Model-based Geostatistics

Springer Series in Statistics Advisors: P. Bickel, P. Diggle, S. Fienberg, U. Gather, I. Olkin, S. Zeger Springer Ser...

Author: Peter J. Diggle | Paulo J. Ribeiro Jr.

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Springer Series in Statistics Advisors: P. Bickel, P. Diggle, S. Fienberg, U. Gather, I. Olkin, S. Zeger

Springer Series in Statistics Alho/Spencer: Statistical Demography and Forecasting. Andersen/Borgan/Gill/Keiding: Statistical Models Based on Counting Processes. Atkinson/Riani: Robust Diagnostic Regression Analysis. Atkinson/Riani/Ceriloi: Exploring Multivariate Data with the Forward Search. Berger: Statistical Decision Theory and Bayesian Analysis, 2nd edition. Borg/Groenen: Modern Multidimensional Scaling: Theory and Applications, 2nd edition. Brockwell/Davis: Time Series: Theory and Methods, 2nd edition. Bucklew: Introduction to Rare Event Simulation. Cappé/Moulines/Rydén: Inference in Hidden Markov Models. Chan/Tong: Chaos: A Statistical Perspective. Chen/Shao/Ibrahim: Monte Carlo Methods in Bayesian Computation. Coles: An Introduction to Statistical Modeling of Extreme Values. Devroye/Lugosi: Combinatorial Methods in Density Estimation. Diggle/Ribeiro: Model-based Geostatistics. Efromovich: Nonparametric Curve Estimation: Methods, Theory, and Applications. Eggermont/LaRiccia: Maximum Penalized Likelihood Estimation, Volume I: Density Estimation. Fahrmeir/Tutz: Multivariate Statistical Modeling Based on Generalized Linear Models, 2nd edition. Fan/Yao: Nonlinear Time Series: Nonparametric and Parametric Methods. Ferraty/Vieu: Nonparametric Functional Data Analysis: Theory and Practice. Fienberg/Hoaglin: Selected Papers of Frederick Mosteller. Frühwirth-Schnatter: Finite Mixture and Markov Switching Models. Ghosh/Ramamoorthi: Bayesian Nonparametrics. Glaz/Naus/Wallenstein: Scan Statistics. Good: Permutation Tests: Parametric and Bootstrap Tests of Hypotheses, 3rd edition. Gouriéroux: ARCH Models and Financial Applications. Gu: Smoothing Spline ANOVA Models. Gyöfi/Kohler/Krzy´zak/Walk: A Distribution-Free Theory of Nonparametric Regression. Haberman: Advanced Statistics, Volume I: Description of Populations. Hall: The Bootstrap and Edgeworth Expansion. Härdle: Smoothing Techniques: With Implementation in S. Harrell: Regression Modeling Strategies: With Applications to Linear Models, Logistic Regression, and Survival Analysis. Hart: Nonparametric Smoothing and Lack-of-Fit Tests. Hastie/Tibshirani/Friedman: The Elements of Statistical Learning: Data Mining, Inference, and Prediction. Hedayat/Sloane/Stufken: Orthogonal Arrays: Theory and Applications. Heyde: Quasi-Likelihood and its Application: A General Approach to Optimal Parameter Estimation. Huet/Bouvier/Poursat/Jolivet: Statistical Tools for Nonlinear Regression: A Practical Guide with S-PLUS and R Examples, 2nd edition. Ibrahim/Chen/Sinha: Bayesian Survival Analysis. Jolliffe: Principal Component Analysis, 2nd edition. Knottnerus: Sample Survey Theory: Some Pythagorean Perspectives. Küchler/Sørensen: Exponential Families of Stochastic Processes. Kutoyants: Statistical Inference for Ergodic Diffusion Processes. (continued after index)

Peter J. Diggle Paulo J. Ribeiro Jr.

Model-based Geostatistics

Peter J. Diggle

Department of Mathematics and Statistics Lancaster University, Lancaster, UK LA1 4YF [email protected] Paulo J. Ribeiro Jr. Departmento de Estatística Universidade Federal do Paraná Curitiba, Paraná, Brazil 81.531-990 [email protected]

Library of Congress Control Number: 2006927417 ISBN-10: 0-387-32907-2 ISBN-13: 978-0-387-32907-9 Printed on acid-free paper. © 2007 Springer Science +Business Media, LLC All rights reserved. This work may not be translated or copied in whole or in part without the written permission of the publisher (Springer Science+ Business Media, LLC, 233 Spring Street, New York, NY 10013, USA), except for brief excerpts in connection with reviews or scholarly analysis. Use in connection with any form of information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed is forbidden. The use in this publication of trade names, trademarks, service marks, and similar terms, even if they are not identified as such, is not to be taken as an expression of opinion as to whether or not they are subject to proprietary rights. 9 8 7 6 5 4 3 2 1 springer.com

For Mandy, Silvia, Jono, Hannah, Paulo Neto and Luca

Preface

Geostatistics refers to the sub-branch of spatial statistics in which the data consist of a finite sample of measured values relating to an underlying spatially continuous phenomenon. Examples include: heights above sea-level in a topographical survey; pollution measurements from a finite network of monitoring stations; determinations of soil properties from core samples; insect counts from traps at selected locations. The subject has an interesting history. Originally, the term geostatistics was coined by Georges Matheron and colleagues at Fontainebleau, France, to describe their work addressing problems of spatial prediction arising in the mining industry. See, for example, (Matheron, 1963; Matheron, 1971b). The ideas of the Fontainebleau school were developed largely independently of the mainstream of spatial statistics, with a distinctive terminology and style which tended to conceal the strong connections with parallel developments in spatial statistics. These parallel developments included work by Kolmogorov (1941), Matérn (1960, reprinted as Matérn, 1986), Whittle (1954, 1962, 1963), Bartlett (1964, 1967) and others. For example, the core geostatistical method known as simple kriging is equivalent to minimum mean square error prediction under a linear Gaussian model with known parameter values. Papers by Watson (1971, 1972) and the book by Ripley (1981) made this connection explicit. Cressie (1993) considered geostatistics to be one of three main branches of spatial statistics, the others being discrete spatial variation (covering distributions on lattices and Markov random fields) and spatial point processes. Geostatistical methods are now used in many areas of application, far beyond the mining context in which they were originally developed. Despite this apparent integration with spatial statistics, much geostatistical practice still reflects its independent origins, and from a mainstream statisti-

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cal perspective this has some undesirable consequences. In particular, explicit stochastic models are not always declared and ad hoc methods of inference are often used, rather than the likelihood-based methods of inference which are central to modern statistics. The potential advantages of using likelihood-based methods of inference are twofold: they generally lead to more efficient estimation of unknown model parameters; and they allow for the proper assessment of the uncertainty in spatial predictions, including an allowance for the effects of uncertainty in the estimation of model parameters. Diggle, Tawn and Moyeed (1998) coined the phrase model-based geostatistics to describe an approach to geostatistical problems based on the application of formal statistical methods under an explicitly assumed stochastic model. This book takes the same point of view. We aim to produce an applied statistical counterpart to Stein (1999), who gives a rigorous mathematical theory of kriging. Our intended readership includes postgraduate statistics students and scientific researchers whose work involves the analysis of geostatistical data. The necessary statistical background is summarised in an Appendix, and we give suggestions of further background reading for readers meeting this material for the first time. Throughout the book, we illustrate the statistical methods by applying them in the analysis of real data-sets. Most of the data-sets which we use are publically available and can be obtained from the book’s website, http://www.maths.lancs.ac.uk/∼diggle/mbg. Most of the book’s chapters end with a section on computation, in which we show how the R software (R Development Core Team, 2005) and contributed packages geoR and geoRglm can be used to implement the geostatistical methods described in the corresponding chapters. This software is freely available from the R Project website (http://www.r-project.org). The first two chapters of the book provide an introduction and overview. Chapters 3 and 4 then describe geostatistical models, whilst Chapters 5 to 8 cover associated methods of inference. The material is mostly presented for univariate problems i. e., those for which the measured response at any location consists of a single value but Chapter 3 includes a discussion of some multivariate extensions to geostatistical models and associated statistical methods. The connections between classical and model-based gostatistics are closest when, in our terms, the assumed model is the linear Gaussian model. Readers who wish to confine their attention to this class of models on a first reading may skip Sections 3.11, 3.12, Chapter 4, Sections 5.5, 7.5, 7.6 and Chapter 8. Many friends and colleagues have helped us in various ways: by improving our understanding of geostatistical theory and methods; by working with us on a range of collaborative projects; by allowing us to use their data-sets; and by offering constructive criticism of early drafts. We particularly wish to thank Ole Christensen, with whom we have enjoyed many helpful discussions. Ole is also the lead author of the geoRglm package. Peter J. Diggle, Paulo J. Ribeiro Jr., March 2006

Contents

Preface

v

1 Introduction 1.1 Motivating examples . . . . . . . . . . . . . . 1.2 Terminology and notation . . . . . . . . . . . 1.2.1 Support . . . . . . . . . . . . . . . . . 1.2.2 Multivariate responses and explanatory 1.2.3 Sampling design . . . . . . . . . . . . . 1.3 Scientific objectives . . . . . . . . . . . . . . . 1.4 Generalised linear geostatistical models . . . . 1.5 What is in this book? . . . . . . . . . . . . . . 1.5.1 Organisation of the book . . . . . . . . 1.5.2 Statistical pre-requisites . . . . . . . . 1.6 Computation . . . . . . . . . . . . . . . . . . . 1.6.1 Elevation data . . . . . . . . . . . . . . 1.6.2 More on the geodata object . . . . . . 1.6.3 Rongelap data . . . . . . . . . . . . . . 1.6.4 The Gambia malaria data . . . . . . . 1.6.5 The soil data . . . . . . . . . . . . . . 1.7 Exercises . . . . . . . . . . . . . . . . . . . . .

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1 1 9 9 10 12 12 13 15 16 17 17 17 20 22 24 24 26

2 An overview of model-based geostatistics 2.1 Design . . . . . . . . . . . . . . . . . . . 2.2 Model formulation . . . . . . . . . . . . . 2.3 Exploratory data analysis . . . . . . . . 2.3.1 Non-spatial exploratory analysis .

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3 Gaussian models for geostatistical data 3.1 Covariance functions and the variogram . . . . . . . . . . . . 3.2 Regularisation . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3 Continuity and differentiability of stochastic processes . . . 3.4 Families of covariance functions and their properties . . . . . 3.4.1 The Matérn family . . . . . . . . . . . . . . . . . . . 3.4.2 The powered exponential family . . . . . . . . . . . . 3.4.3 Other families . . . . . . . . . . . . . . . . . . . . . . 3.5 The nugget effect . . . . . . . . . . . . . . . . . . . . . . . . 3.6 Spatial trends . . . . . . . . . . . . . . . . . . . . . . . . . . 3.7 Directional effects . . . . . . . . . . . . . . . . . . . . . . . . 3.8 Transformed Gaussian models . . . . . . . . . . . . . . . . . 3.9 Intrinsic models . . . . . . . . . . . . . . . . . . . . . . . . . 3.10 Unconditional and conditional simulation . . . . . . . . . . . 3.11 Low-rank models . . . . . . . . . . . . . . . . . . . . . . . . 3.12 Multivariate models . . . . . . . . . . . . . . . . . . . . . . . 3.12.1 Cross-covariance, cross-correlation and cross-variogram 3.12.2 Bivariate signal and noise . . . . . . . . . . . . . . . 3.12.3 Some simple constructions . . . . . . . . . . . . . . . 3.13 Computation . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.14 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

46 46 48 49 51 51 53 54 56 57 58 60 63 66 68 69 70 71 72 74 77

4 Generalized linear models for geostatistical data 4.1 General formulation . . . . . . . . . . . . . . . . . . . 4.2 The approximate covariance function and variogram . 4.3 Examples of generalised linear geostatistical models . 4.3.1 The Poisson log-linear model . . . . . . . . . . 4.3.2 The binomial logistic-linear model . . . . . . . 4.3.3 Spatial survival analysis . . . . . . . . . . . . 4.4 Point process models and geostatistics . . . . . . . . 4.4.1 Cox processes . . . . . . . . . . . . . . . . . . 4.4.2 Preferential sampling . . . . . . . . . . . . . . 4.5 Some examples of other model constructions . . . . . 4.5.1 Scan processes . . . . . . . . . . . . . . . . . . 4.5.2 Random sets . . . . . . . . . . . . . . . . . . . 4.6 Computation . . . . . . . . . . . . . . . . . . . . . . . 4.6.1 Simulating from the generalised linear model . 4.6.2 Preferential sampling . . . . . . . . . . . . . .

79 79 81 82 82 83 84 86 87 89 93 93 94 94 94 96

2.4 2.5 2.6 2.7 2.8 2.9

2.3.2 Spatial exploratory analysis . The distinction between parameter prediction . . . . . . . . . . . . . . . Parameter estimation . . . . . . . . . Spatial prediction . . . . . . . . . . . Definitions of distance . . . . . . . . Computation . . . . . . . . . . . . . . Exercises . . . . . . . . . . . . . . . .

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Contents

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Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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5 Classical parameter estimation 5.1 Trend estimation . . . . . . . . . . . . . . . . . . . . . . . . 5.2 Variograms . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.2.1 The theoretical variogram . . . . . . . . . . . . . . . 5.2.2 The empirical variogram . . . . . . . . . . . . . . . . 5.2.3 Smoothing the empirical variogram . . . . . . . . . . 5.2.4 Exploring directional effects . . . . . . . . . . . . . . 5.2.5 The interplay between trend and covariance structure 5.3 Curve-fitting methods for estimating covariance structure . . 5.3.1 Ordinary least squares . . . . . . . . . . . . . . . . . 5.3.2 Weighted least squares . . . . . . . . . . . . . . . . . 5.3.3 Comments on curve-fitting methods . . . . . . . . . . 5.4 Maximum likelihood estimation . . . . . . . . . . . . . . . . 5.4.1 General ideas . . . . . . . . . . . . . . . . . . . . . . 5.4.2 Gaussian models . . . . . . . . . . . . . . . . . . . . 5.4.3 Profile likelihood . . . . . . . . . . . . . . . . . . . . 5.4.4 Application to the surface elevation data . . . . . . . 5.4.5 Restricted maximum likelihood estimation for the Gaussian linear model . . . . . . . . . . . . . . . . . 5.4.6 Trans-Gaussian models . . . . . . . . . . . . . . . . . 5.4.7 Analysis of Swiss rainfall data . . . . . . . . . . . . . 5.4.8 Analysis of soil calcium data . . . . . . . . . . . . . . 5.5 Parameter estimation for generalized linear geostatistical models . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.5.1 Monte Carlo maximum likelihood . . . . . . . . . . . 5.5.2 Hierarchical likelihood . . . . . . . . . . . . . . . . . 5.5.3 Generalized estimating equations . . . . . . . . . . . 5.6 Computation . . . . . . . . . . . . . . . . . . . . . . . . . . . 5.6.1 Variogram calculations . . . . . . . . . . . . . . . . . 5.6.2 Parameter estimation . . . . . . . . . . . . . . . . . . 5.7 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

99 100 100 100 102 102 104 105 107 108 108 110 112 112 112 114 114

6 Spatial prediction 6.1 Minimum mean square error prediction . . . . 6.2 Minimum mean square error prediction for Gaussian model . . . . . . . . . . . . . . . . . 6.2.1 Prediction of the signal at a point . . . 6.2.2 Simple and ordinary kriging . . . . . . 6.2.3 Prediction of linear targets . . . . . . . 6.2.4 Prediction of non-linear targets . . . . 6.3 Prediction with a nugget effect . . . . . . . . 6.4 What does kriging actually do to the data? . . 6.4.1 The prediction weights . . . . . . . . . 6.4.2 Varying the correlation parameter . . . 6.4.3 Varying the noise-to-signal ratio . . . .

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Contents

6.5 6.6 6.7 6.8

Trans-Gaussian kriging . . . . . . . . . . . . . . . 6.5.1 Analysis of Swiss rainfall data (continued) Kriging with non-constant mean . . . . . . . . . . 6.6.1 Analysis of soil calcium data (continued) . Computation . . . . . . . . . . . . . . . . . . . . . Exercises . . . . . . . . . . . . . . . . . . . . . . .

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7 Bayesian inference 157 7.1 The Bayesian paradigm: a unified treatment of estimation and prediction . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 7.1.1 Prediction using plug-in estimates . . . . . . . . . . . 157 7.1.2 Bayesian prediction . . . . . . . . . . . . . . . . . . . 158 7.1.3 Obstacles to practical Bayesian prediction . . . . . . 160 7.2 Bayesian estimation and prediction for the Gaussian linear model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 7.2.1 Estimation . . . . . . . . . . . . . . . . . . . . . . . . 161 7.2.2 Prediction when correlation parameters are known . 163 7.2.3 Uncertainty in the correlation parameters . . . . . . 164 7.2.4 Prediction of targets which depend on both the signal and the spatial trend . . . . . . . . . . . . . . . . . . 165 7.3 Trans-Gaussian models . . . . . . . . . . . . . . . . . . . . . 166 7.4 Case studies . . . . . . . . . . . . . . . . . . . . . . . . . . . 167 7.4.1 Surface elevations . . . . . . . . . . . . . . . . . . . . 167 7.4.2 Analysis of Swiss rainfall data (continued) . . . . . . 169 7.5 Bayesian estimation and prediction for generalized linear geostatistical models . . . . . . . . . . . . . . . . . . . . . . 172 7.5.1 Markov chain Monte Carlo . . . . . . . . . . . . . . . 172 7.5.2 Estimation . . . . . . . . . . . . . . . . . . . . . . . . 173 7.5.3 Prediction . . . . . . . . . . . . . . . . . . . . . . . . 176 7.5.4 Some possible improvements to the MCMC algorithm 177 7.6 Case studies in generalized linear geostatistical modelling . . 179 7.6.1 Simulated data . . . . . . . . . . . . . . . . . . . . . 179 7.6.2 Rongelap island . . . . . . . . . . . . . . . . . . . . . 181 7.6.3 Childhood malaria in The Gambia . . . . . . . . . . 185 7.6.4 Loa loa prevalence in equatorial Africa . . . . . . . . 187 7.7 Computation . . . . . . . . . . . . . . . . . . . . . . . . . . . 193 7.7.1 Gaussian models . . . . . . . . . . . . . . . . . . . . 193 7.7.2 Non-Gaussian models . . . . . . . . . . . . . . . . . . 196 7.8 Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196 8 Geostatistical design 8.1 Choosing the study region . . . . . . . . . . . . 8.2 Choosing the sample locations: uniform designs 8.3 Designing for efficient prediction . . . . . . . . . 8.4 Designing for efficient parameter estimation . . 8.5 A Bayesian design criterion . . . . . . . . . . . . 8.5.1 Retrospective design . . . . . . . . . . .

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8.5.2 Prospective design . . . . . . . . . . . . . . . . . . . Exercises . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

A Statistical background A.1 Statistical models . A.2 Classical inference . A.3 Bayesian inference . A.4 Prediction . . . . .

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References

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Index

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1 Introduction

1.1 Motivating examples The term spatial statistics is used to describe a wide range of statistical models and methods intended for the analysis of spatially referenced data. Cressie (1993) provides a general overview. Within spatial statistics, the term geostatistics refers to models and methods for data with the following characteristics. Firstly, values Yi : i = 1, . . . , n are observed at a discrete set of sampling locations xi within some spatial region A. Secondly, each observed value Yi is either a direct measurement of, or is statistically related to, the value of an underlying continuous spatial phenomenon, S(x), at the corresponding sampling location xi . This rather abstract formulation can be translated to a variety of more tangible scientific settings, as the following examples demonstrate.

Example 1.1. Surface elevations The data for this example are taken from Davis (1972). They give the measured surface elevations yi at each of 52 locations xi within a square, A, with sidelength 6.7 units. The unit of distance is 50 feet (≈15.24 meters), whereas one unit in y represents 10 feet (≈3.05 meters) of elevation. Figure 1.1 is a circle plot of the data. Each datum (xi , yi ) is represented by a circle with centre at xi and radius proportional to yi . The observed elevations range between 690 and 960 units. For the plot, we have subtracted 600 from each observed elevation, to heighten the visual contrast between low and high values. Note in particular the cluster of low values near the top-centre of the plot.

1. Introduction

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Figure 1.1. Circle plot of the surface elevation data. For the coordinates, the unit of distance is 50 feet. The observed elevations range from 690 to 960 units, where 1 unit represents 10 feet of elevation. Circles are plotted with centres at the sampling locations and radii determined by a linear transformation of the observed elevations (see Section 1.6).

The objective in analysing these data is to construct a continuous elevation map for the whole of the square region A. Let S(x) denote the true elevation at an arbitrary location x. Since surface elevation can be measured with negligible error, in this example each yi is approximately equal to S(xi ). Hence, a reasonable requirement would be that the map resulting from the analysis should interpolate the data. Our notation, distinguishing between a measurement process Y and an underlying true surface S, is intended to emphasise that this is not always the case.

Example 1.2. Residual contamination from nuclear weapons testing The data for this example were collected from Rongelap Island, the principal island of Rongelap Atoll in the South Pacific, which forms part of the Marshall Islands. The data were previously analysed in Diggle et al. (1998) and have the format (xi , yi , ti ) : i = 1, . . . , 157, where xi identifies a spatial location, yi is a photon emission count attributable to radioactive caesium, and ti is the time (in seconds) over which yi was accumulated. These data were collected as part of a more wide-ranging, multidisciplinary investigation into the extent of residual contamination from the U.S. nuclear weapons testing programme, which generated heavy fallout over the island in

1.1. Motivating examples

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the 1950s. Rongelap island has been uninhabited since 1985, when the inhabitants left on their own initiative after years of mounting concern about the possible adverse health effects of the residual contamination. Each ratio yi /ti gives a crude estimate of the residual contamination at the corresponding location xi but, in contrast to Example 1.1, these estimates are subject to nonnegligible statistical error. For further discussion of the practical background to these data, see Diggle, Harper and Simon (1997). Figure 1.2 gives a circle plot of the data, using as response variable at each sampling location xi the observed emission count per unit time, yi /ti . Spatial coordinates are in metres, hence the east-west extent of the island is approximately 6.5 kilometres. The sampling design consists of a primary grid covering the island at a spacing of approximately 200 metres together with four secondary 5 by 5 sub-grids at a spacing of 50 metres. The role of the secondary sub-grids is to provide information about short-range spatial effects, which have an important bearing on the detailed specification and performance of spatial prediction methods. The clustered nature of the sampling design makes it difficult to construct a circle plot of the complete data-set which is easily interpretable on the scale of the printed page. The inset to Figure 1.2 therefore gives an enlarged circle plot for the western extremity of the island. Note that the variability in the emission counts per unit time within each sub-grid is somewhat less than the overall variability across the whole island, which is as we would expect if the underlying variation in the levels of contamination is spatially structured. In devising a statistical model for the data, we need to distinguish between two sources of variation: spatial variation in the underlying true contamination surface, T (x) say; and statistical variation in the observed photon emission counts, yi , given the surface T (x). In particular, the physics of photon emissions suggests that a Poisson distribution would provide a reasonable model for the conditional distribution of each yi given the corresponding value T (xi ). The gamma camera which records the photon emissions integrates information over a circular area whose effective diameter is substantially smaller than the smallest distance (50 metres) between any two locations xi . It is therefore reasonable to assume that the yi are conditionally independent given the whole of the underlying surface T (x). In contrast, there is no scientific theory to justify any specific model for T (x), which represents the long-term cumulative effect of variation in the initial deposition, soil properties, human activity and a variety of natural environmental processes. We return to this point in Section 1.2. One scientific objective in analysing the Rongelap data is to obtain an estimated map of residual contamination. However, in contrast to Example 1.1, we would argue that in this example the map should not interpolate the observed ratios yi /ti because each such ratio is a noisy estimate of the corresponding value of T (xi ). Also, because of the health implications of the pattern of contamination across the island, particular properties of the map are of specific interest, for example the location and value of the maximum of T (x), or areas within which T (x) exceeds a prescribed threshold.

1. Introduction

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Figure 1.2. Circle plot for data from Rongelap island. Circles are plotted with centres at the sampling locations and radii proportional to observed emission counts per unit time. The unit of distance is 1 metre. The inset shows an enlargement of the western extremity of the island.

Example 1.3. Childhood malaria in The Gambia These data are derived from a field survey into the prevalence of malaria parasites in blood samples taken from children living in village communities in The Gambia, West Africa. For practical reasons, the sampled villages were concentrated into five regions rather than being sampled uniformly across the whole country. Figure 1.3 is a map of The Gambia showing the locations of the sampled villages. The clustered nature of the sampling design is clear. Within each village, a random sample of children was selected. For each child, a binary response was then obtained, indicating the presence or absence of malaria parasites in a blood sample. Covariate information on each child included their age, sex, an indication of whether they regularly slept under a mosquito net and, if so, whether or not the net was treated with insecticide. Information provided for each village, in addition to its geographical location, included a measure of the greenness of the surrounding vegetation derived from satellite data, and an indication of whether or not the village belonged to the primary health care structure of The Gambia Ministry for Health. The data format for this example is therefore (xi , yij , di , dij ) where the subscripts i and j identify villages, and individual children within villages, respectively, whilst di and dij similarly represent explanatory variables recorded at the village level, and at the individual level, as described below. Note that if only village-level explanatory variables are used in the analysis, we might choose

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Figure 1.3. Sampling locations for The Gambia childhood malaria survey. The inset plots are enlarged maps of the western, central and eastern regions of The Gambia.

to analyse the data only at the village level, in which case the data format could be reduced to (xi , ni , yi , di ) where ni is the number of children sampled in the ni ith village, and yi = j=1 yij the number who test positive. Figure 1.4 is a scatterplot of the observed prevalences, yi /ni , against the corresponding greenness values, ui . This shows a weak positive correlation. The primary objective in analysing these data is to develop a predictive model for variation in malarial prevalence as a function of the available explanatory variables. A natural starting point is therefore to fit a logistic regression model to the binary responses yij . However, in so doing we should take account of possible unexplained variation within or between villages. In particular, unexplained spatial variation between villages may give clues about as-yet unmeasured environmental risk factors for malarial infection.

Example 1.4. Soil data These data have the format (xi , yi1 , yi2 , di1 , di2 ), where xi identifies the location of a soil sample, the two y-variables give the calcium and magnesium content whilst the two d-covariates give the elevation and sub-area code of each sample. The soil samples were taken from the 0-20 cm depth layer at each of 178 locations. Calcium and magnesium content were measured in mmolc /dm3 and the elevation in metres. The study region was divided into three sub-regions which have experienced different soil management regimes. The first, in the upper-left corner, is typically flooded during each rainy season and is no longer

1. Introduction

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Figure 1.4. Observed prevalences against greenness for villages in The Gambia childhood malaria survey.

used as an experimental area because of its varying elevation. The calcium and magnesium levels in this region therefore represent the pattern of natural spatial variation in background content. The second, corresponding to the lower half of the study region, and the third, in the upper-right corner, have received fertilisers in the past: the second is typically occupied by rice fields, whilst the third is frequently used as an experimental area. Also, the second sub-region was the most recent of the three to which calcium was added to neutralise the effect of aluminium in the soil, which partially explains the generally higher measured calcium values within this sub-region. The sampling design is an incomplete regular lattice at a spacing of approximately 50 metres. The data were collected by researchers from PESAGRO and EMBRAPA-Solos, Rio de Janeiro, Brasil (Capeche, 1997). The two panels of Figure 1.5 show circle plots of the calcium (left panel) and magnesium (right panel) data separately, whilst Figure 1.6 shows a scatterplot of calcium against magnesium, ignoring the spatial dimension. This shows a moderate positive correlation between the two variables; the value of the sample correlation between the 178 values of calcium and magnesium content is r = 0.33. Figure 1.7 shows the relationship between the potential covariates and the calcium content. There is a clear trend in the north-south direction, with generally higher values to the south. The relationships between calcium content and either east-west location or elevation are less clear. However, we have included on each of the three scatterplots a lowess smooth curve (Cleveland, 1981) which, in the case of elevation, suggests that there may be a relationship with calcium beyond an elevation threshold. Finally, the boxplots in the bottom right panel of Figure 1.7 suggest that the means of the distributions of calcium content are

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Figure 1.5. Circle plots of calcium (left panel) and magnesium (right panel) content with dashed lines delimiting sub-regions with different soil management practices.

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Figure 1.6. Scatterplot of calcium content against magnesium content in the 0-20 cm soil layer.

different in the different sub-regions. In any formal modelling of these data, it would also be sensible to examine covariate effects after allowing for a different mean response in each of the three sub-regions, in view of their different management histories. One objective for these data is to construct maps of the spatial variation in calcium or magnesium content. Because these characteristics are determined from small soil cores, and repeated sampling at effectively the same location would yield different measurements, the constructed maps should not necessar-

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Figure 1.7. Scatterplots of calcium content against: (a) E − W coordinate, (b) N − S coordinate, (c) elevation. Lines are lowess curves. (d) Box-plots of calcium content in each of the three sub-regions.

ily interpolate the data. Another goal is to investigate relationships between calcium or magnesium content and the two covariates. The full data-set also includes the values of the calcium and magnesium content in the 20-40 cm depth layer. We shall introduce additional examples in due course. However, these four are sufficient to motivate some basic terminology and notation, and to indicate the kinds of problems which geostatistical methods are intended to address.

1.2. Terminology and notation

9

1.2 Terminology and notation The basic format for univariate geostatistical data is (xi , yi ) : i = 1, . . . , n, where xi identifies a spatial location (typically in two-dimensional space, although one-dimensional and three-dimensional examples also occur) and yi is a scalar value associated with the location xi . We call y the measurement variable or response. A defining characteristic of geostatistics is that the measurement variable is, at least in principle, defined throughout a continuous study region, A say. Furthermore, we shall assume that the sampling design for the locations xi is either deterministic (for example, the xi may form a grid over the study region), or stochastically independent of the process which generates the measurements yi . Each yi is a realisation of a random variable Yi whose distribution is dependent on the value at the location xi of an underlying spatially continuous stochastic process S(x) which is not directly observable. In particular cases, such as in our Example 1.1, we might reasonably assume that Yi = S(xi ), but in general it is important to preserve a distinction between the observable quantities Yi and the unobservable, or latent process S(x). The basic form of a geostatistical model therefore incorporates at least two elements: a real-valued stochastic process {S(x) : x ∈ A}, which is typically considered to be a partial realisation of a stochastic process {S(x) : x ∈ IR2 } on the whole plane; and a multivariate distribution for the random variable Y = (Y1 , . . . , Yn ) conditional on S(·). We call S(x) the signal and Yi the response. Often, Yi can be thought of as a noisy version of S(xi ) and the Yi can be assumed to be conditionally independent given S(·).

1.2.1 Support Examples 1.2 and 1.4 illustrate a general issue with geostatistical data concerning the support of each measured response. Formally, we associate each yi with a point location xi . However, in many cases yi derives from a finite area for which xi is a convenient reference point. In Example 1.4, the support is clearly identifiable as the circular cross-section of the soil core used to obtain each sample, and xi denotes the centre of the cross-section. In Example 1.2, definition of the support is more difficult. The gamma camera integrates positron emissions over a circular neighbourhood of each sample location xi , but rather than a sharp cut-off at a known distance, the camera traps a smaller proportion of the actual emissions with increasing distance from the centre of the circle. This implies that the modelled signal, S(x), should strictly be interpreted as a weighted integral of an underlying spatially continuous signal, S ∗ (x) say, so that S(x) = w(r)S ∗ (x − r)dr. Under this formulation, S(x) is still a real-valued, spatially continuous process i.e., it is well-defined for all x ∈ IR2 . Its genesis as an integral does, however, have

10

1. Introduction

implications for what covariance structure we can strictly assume for the process S(·), since any smoothness in the behaviour of the weighting function w(·) constrains the allowable form of covariance structure for S(·). In this particular example we do not need to model the effect of the weighting function explicitly, because its effective range is much smaller than the minimum distance of 50 metres between any two points in the design. The idea that geostatistical measurements have finite, rather than infinitesimal, support is to be contrasted with problems in which measurements are derived from a partition of a spatial region into discrete spatial units i = 1, . . . , n, each of which yields a measurement yi . This is often the case, for example, in spatial epidemiology, where data on disease prevalence may be recorded as counts in administrative sub-regions, for example counties or census tracts. In that context, the modelling options are either to deal explicitly with the effects of the spatial integration of an underlying spatially continuous process S ∗ (x) or, more pragmatically, to specify a model at the level of the discrete spatial units i.e., a multivariate distribution for random variables Yi : i = 1, . . . , n. Models of the second kind have an extensive literature and are widely used in practice to analyse data arising as a result of spatial aggregation into discrete units. Less commonly, the actual spatial units are genuinely discrete; an example would be data on the yields of individual fruit trees in an orchard. Evidently, a common feature of geostatistical models and discrete spatial models is that they both specify the joint distribution of a spatially referenced, n-dimensional random variable (Y1 , . . . , Yn ) . An important difference is that a geostatistical model automatically embraces any n, and any associated set of sampling locations, whereas a discrete spatial model is specific to a particular set of locations. A classic early reference to the modelling and analysis of data from discrete spatial units is Besag (1974). See also Cressie (1993, chapters 6 and 7).

1.2.2 Multivariate responses and explanatory variables As our motivating examples llustrate, in many applications the basic (xi , yi ) format of geostatistical data will be extended in either or both of two ways. There may be more than one measurement variable, so defining multivariate response, yi = {yi1 , ..., yid }, or the data may include spatial explanatory variables, {dk (x) : x ∈ A}, sometimes also called covariates. The distinction between the two is not always clear-cut. From a modelling point of view, the difference is that a model for a multivariate response requires the specification of a vector-valued stochastic process over the study region A, whereas spatial explanatory variables are treated as deterministic quantities with no associated stochastic model. One consequence of this is that a spatial explanatory variable must, at least in principle, be available at any location within A if it is to be used to predict responses at unsampled locations x. An example would be the greenness index in Example 1.3. The index is calculated on a 1 km pixel grid and can therefore be used to predict malaria prevalence without making any assumptions about its spatial variation. Even then, in our

1.2. Terminology and notation

11

experience the distinction between a stochastic signal S(x) and a spatial explanatory variable d(x) is largely a reflection of our scientific goals. Again using Example 1.3 to illustrate the point, the goal in this example is to understand how environmental factors affect malaria prevalence. Elevation is one of several factors which determine the suitability of a particular location to support breeding mosquitos, and is a candidate for inclusion as an explanatory variable in a stochastic model for prevalence. In contrast, in Example 1.1 the goal is to interpolate or smooth a spatially sparse set of measured elevations so as to obtain a spatially continuous elevation map, hence elevation is treated as a stochastic response. In most geostatistical work, the adoption of a stochastic model for S(x) reflects its unknown, unobserved quality rather than a literal belief that the underlying spatial surface of interest is generated by the laws of probability. Indeed, in many applications the role of the signal process S(x) is as a surrogate for unmeasured explanatory variables which influence the response variable. In modelling S(x) as a stochastic process we are using stochasticity at least in part as a metaphor for ignorance. For this reason, when relevant explanatory variables are only available at the data locations xi and we wish to use their observed values for spatial prediction at an unsampled location x, a pragmatic strategy is to treat such variables as additional responses, and accordingly to formulate a multivariate model. Example 1.4 illustrates both situations: the calcium and magnesium contents form a bivariate spatial stochastic process, whereas region and, to a good approximation, elevation, available at any location, are not of scientific interest in themselves, and can therefore be treated as explanatory variables. In this example, both components of the bivariate response are measured at each data location. More generally, measurements on different components of a multivariate response need not necessarily be made at a common set of locations. Note that the locations xi potentially play a dual role in geostatistical analysis. Firstly, spatial location is material to the model for the signal process S(x) in that the stochastic dependence between S(x) and S(x ) is typically modelled as a function of the locations in question, x and x . Secondly, each location defines the values of a pair of explanatory variables corresponding to the two spatial coordinates. The convention in geostatistics is to use the term trend surface, to mean a spatially varying expectation of the response variable which is specified as a function of the coordinates of the xi , whereas the term external trend refers to a spatially varying expectation specified as a function of other explanatory variables d(x). For example, the elevation data as presented in Example 1.1 do not include any explanatory variables which could be used in an external trend model, but as we shall see in Chapter 2 a low-order polynomial trend surface can explain a substantial proportion of the observed spatial variation in the data.

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1.2.3 Sampling design The locations xi at which measurements are made are collectively called the sampling design for the data. A design is non-uniform if the sampling intensity varies systematically over the study region, in the sense that before the actual sampling points are chosen, some parts of the study region are deliberately sampled more intensively than others. This is as distinct from the sampling intensity varying by chance; for example, if sample points are located as an independent random sample from a uniform distribution over the study region, it may (indeed, will) happen that some parts of the study region are more intensively sampled than others, but we would still describe this as a uniform design because of its method of construction. A design is non-preferential if it is deterministic, or if it is stochastically independent of S(·). Conventional geostatistical methods assume, if only implicitly, that the sampling design is non-preferential, in which case we can legitimately analyse the data conditional on the design. Provided that the sampling process is non-preferential, the choice of design does not impact on the assumed model for the data, but does affect the precision of inferences which can be made from the data. Furthermore, different designs are efficient for different kinds of inference. For example, closely spaced pairs of sample locations are very useful for estimating model parameters, but would be wasteful for spatial prediction using a known model.

1.3 Scientific objectives In most applications, the scientific objectives of a geostatistical analysis are broadly of two kinds: estimation and prediction. Estimation refers to inference about the parameters of a stochastic model for the data. These may include parameters of direct scientific interest, for example those defining a regression relationship between a response and an explanatory variable, and parameters of indirect interest, for example those defining the covariance structure of a model for S(x). Prediction refers to inference about the realisation of the unobserved signal process S(x). In applications, specific prediction objectives might include prediction of the realised value of S(x) at an arbitrary location x within a region of interest, A, typically presented as a map of the predicted values of S(x), or prediction of some property of the complete realisation of S(x) which is of particular relevance to the problem in hand. For example, in the mining applications for which geostatistical methods were originally developed, the average value of S(x) over an area potentially to be mined would be of direct economic interest, whereas in the Rongelap island example an identification of those parts of the island where S(x) exceeds some critical value would be more useful than the average as an indicator of whether the island is fit for rehabitation. Geostatistical models and methods are particularly suited to scientific problems whose objectives include prediction, in the sense defined here.

1.4. Generalised linear geostatistical models

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A third kind of inferential problem, namely hypothesis testing, can also arise in geostatistical problems, although often only in a secondary sense, for example in deciding whether or not to include a particular explanatory variable in a regression model. For the most part, in this book we will tacitly assume that testing is secondary in importance to estimation and prediction.

1.4 Generalised linear geostatistical models Classical generalised linear models, introduced by Nelder and Wedderburn (1972), provide a unifying framework for the analysis of many superficially different kinds of independently replicated data. Several different ways to extend the generalised linear model class to dependent data have been proposed, amongst which perhaps the most widely used are marginal models (Liang and Zeger, 1986) and mixed models (Breslow and Clayton, 1993). What we shall call a generalised linear geostatistical model is a generalised linear mixed model of a form specifically oriented to geostatistical data. The first ingredient in this class of models is a stationary Gaussian process S(x). A stochastic process S(x) is a Gaussian model if the joint distribution of S(x1 ), . . . , S(xn ) is multivariate Gaussian for any integer n and set of locations xi . The process is stationary if the expectation of S(x) is the same for all x, the variance of S(x) is the same for all x and the correlation between S(x) and S(x ) depends only on u = ||x − x ||, the Euclidean distance between x and x . We shall use the class of stationary Gaussian processes as a flexible, empirical model for an irregularly fluctuating, real-valued spatial surface. Typically, the nature of this surface, which we call the signal , is of scientific interest but the surface itself cannot be measured directly. The range of applicability of the model can be extended by the use of mathematical transformations. For example, in the suggested model for the Rongelap island photon emission data, the Gaussian process S(x) is the logarithm of the underlying contamination surface T (x). We discuss the Gaussian model, including non-stationary versions, in more detail in Chapter 3. The second ingredient in the generalised linear geostatistical model is a statistical description of the data generating mechanism conditional on the signal. This part of the model follows a classical generalized linear model as described by McCullagh and Nelder (1989), with S(x) as an offset in the linear predictor. Explicitly, conditional on S(·) the responses Yi : i = 1, . . . , n at locations xi : i = 1, . . . , n are mutually independent random variables whose conditional expectations, μi = E[Yi |S(·)], are determined as h(μi ) = S(xi ) +

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predictor of the model. The conditional distribution of each Yi given S(·) is called the error distribution. For each of our introductory examples, there is a natural candidate model within the generalized linear family. For Example 1.1, in which the response is real-valued, we might adopt a linear Gaussian model, in which the link function h(·) is the identity and the error distribution is Gaussian with variance τ 2 . Hence, the true surface elevation at a location x is given by S(x) and, conditional on the realisation of S(x) at all locations the measured elevations yi are mutually independent, normally distributed with conditional means S(xi ) and common conditional variance τ 2 . A possible extension of this model would be to include spatial explanatory variables to account for a possible non-stationarity of S(·). For example, the circle plot of the data (Figure 1.1) suggests that elevations tend to decrease as we move from south to north. We might therefore consider including the north-south coordinate of the location as an explanatory variable, d1 (·) say, so defining a non-constant plane over the area. The conditional mean of each yi given S(x) would then be modelled as d1 (xi )β + S(xi ). For Example 1.2, in which the response is a photon emission count, the underlying physics motivates the Poisson distribution as a suitable error distribution, whilst the log-linear formulation suggested earlier is an empirical device which constrains the expected count to be non-negative, as required. The photon emission counts Yi can then be modelled as conditionally independent Poissondistributed random variables, given an underlying surface T (·) of true levels of contamination. Also, the expectation of Yi is directly proportional both to the value of T (xi ) and to the time, ti , over which the observed count is accumulated. Hence, the conditional distribution of Yi should be Poisson with mean ti T (xi ). In the absence of additional scientific information a pragmatic model for T (x), recognising that it necessarily takes non-negative values, might be that log T (x) = S(x) is a Gaussian stochastic process with mean μ, variance σ 2 and correlation function ρ(x, x ) = Corr{S(x), S(x )}. Like any statistical model, this is an idealisation. A possible refinement to the Poisson assumption for the emission counts conditional on the signal S(x) would be to recognise that each yi is a so-called nett count, calculated by subtracting from the raw count an estimate of that part of the count which is attributable to broad-band background radiation. With regard to the model for S(x), the assumed constant mean could be replaced by a spatially varying mean if there were evidence of systematic variation in contamination across the island. For Example 1.3, the sampling mechanism leads naturally to a binomial error distribution at the village level or, at the child level, a Bernoulli distribution with the conditional mean μij representing the probability of a positive response from the jth child sampled within the ith village. A logit-linear model, h(μij ) = log{μij /(1 − μij )}, constrains the μij to lie between 0 and 1 as required, and is one of several standard choices. Others include the probit link, h(μ) = Φ−1 (μ) where Φ(·) denotes the standard Gaussian distribution function, or the complementary-log-log, h(μ) = log{− log(μ)}. In practice, the logit and probit links are hard to distinguish, both corresponding to a symmetric

1.5. What is in this book?

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S-shaped curve for μ as a function of the linear predictor with the point of symmetry at μ = 0.5, whereas the complementary-log-log has a qualitatively different, asymmetric form. Example 1.4 features a bivariate response, and therefore falls outside the scope of the (univariate) generalized linear geostatistical model as described here. However, a separate linear Gaussian model could be used for each of the two responses, possibly after appropriate transformation, and dependence between the two response variables could then be introduced by extending the unobserved Gaussian process S(x) to a bivariate Gaussian process, S(x) = {S1 (x), S2 (x)}. This example also includes explanatory variables as shown in Figure 1.7. These could be added to the model as indicated in equation (1.1), using the identity link function.

1.5 What is in this book? This books aims to describe and explain statistical methods for analysing geostatistical data. The approach taken is model-based, by which we mean that the statistical methods are derived by applying general principles of statistical inference based on an explicitly declared stochastic model of the data generating mechanism. In principle, we place no further restriction on the kind of stochastic model to be specified. Our view is that a model for each particular application should ideally be constructed by collaboration between statistician and subject-matter scientist with the aim that the model should incorporate relevant contextual knowledge whilst simultaneously avoiding unnecessary over-elaboration and providing an acceptable fit to the observed data. In practice, a very useful and flexible model class is the generalized linear geostatistical model, which we described briefly in Section 1.4. Chapters 3 and 4 develop linear and generalized linear geostatistical models in more detail. We also include in Chapter 4 some cautionary examples of spatial modelling problems for which the generalized linear model is inadequate. We shall develop both classical and Bayesian approaches to parameter estimation. The important common feature of the two approaches is that they are based on the likelihood function. However, we also describe simpler, more ad hoc approaches and indicate why they are sometimes useful. For problems involving prediction, we shall argue that a Bayesian approach is natural and convenient because it provides a ready means of allowing uncertainty in model parameters to be reflected in the widths of our prediction intervals. Within the Bayesian paradigm, there is no formal distinction between an unobserved spatial stochastic process S(x) and an unknown parameter θ. Both are modelled as random variables. Nevertheless, although we use Bayesian methods extensively, we think that maintaining the distinction between prediction of S(x) and estimation of θ is important in practice. As noted in Section 1.3 above, prediction is concerned with learning about the particular realisation of

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the stochastic process S(x) which is assumed to have generated the observed data yi , whereas estimation is concerned with properties of the process S(·) which apply to all realisations. Section 2.4 discusses some of the inferential implications of this distinction in the context of a specific, albeit hypothetical, example.

1.5.1 Organisation of the book Chapters 3 and 4 of the book discuss geostatistical models, whilst Chapters 5 to 8 discuss associated methods for the analysis of geostatistical data. Embedded within these chapters is a model-based counterpart to classical, linear geostatistics, in which we assume that the linear Gaussian model is applicable, perhaps after transformation of the response variable. We do not necessarily believe that the Gaussian is a correct model, only that it provides a reasonable approximation. Operationally, its significance is that it gives a theoretical justification for using linear prediction methods, which under the Gaussian assumption have the property that they minimise mean squared prediction errors. In Chapter 8 we give a model-based perspective on design issues for geostatistical studies. Our aim has been to give a thorough description of core topics in model-based geostatistics. However, in several places we have included shorter descriptions of some additional topics, together with suggestions for further reading. These additional topics are ones for which model-based geostatistical methods are, at the time of writing, incompletely developed. They include constructions for multivariate Gaussian models, preferential sampling and point process models. Throughout the book, we intersperse methodological discussion with illustrative examples using real or simulated data. Some of the data-sets which we use are not freely available. Those which are can be downloaded from the book’s website, http://www.maths.lancs.ac.uk/∼diggle/mbg. Most chapters, including this one, end with a section on ”Computation.” In each such section we give examples of R code to implement the geostatistical methods described in the corresponding chapters, and illustrate some of the optional input parameters for various functions within the contributed R packages geoR and geoRglm. These illustrations are intended to be less formal in style than the help pages which form part of the package documentation. The websites, http://www.est.ufpr.br/geoR and http://www.est.ufpr.br/geoRglm, also include illustrative sessions using these two packages. Material from the computation sections is also available from the book’s website. The “Computation” sections assume that the reader is familiar with using R for elementary statistics and graphics. For readers who are not so familiar, a good introductory textbook is Dalgaard (2002), whilst general information about the R project can be found in documentation available in the R-Project website, http://www.r-project.org. These sections are also optional, in the sense that they introduce no new statistical ideas, and the remainder of the book can be read without reference to this material.

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1.5.2 Statistical pre-requisites We assume that the reader has a general knowledge of the standard tools for exploratory data analysis, regression modelling and statistical inference. With regard to regression modelling, we use both linear and generalised linear models. One of many good introductions to linear models is Draper and Smith (1981). The standard reference to generalised linear models is McCullagh and Nelder (1989). We make extensive use of likelihood-based methods, for both nonBayesian and Bayesian inference. The Appendix gives a short summary of the key ideas. A good treatment of likelihood-based methods in general is Pawitan (2001), whilst O’Hagan (1994) specifically discusses the Bayesian method. Readers will also need some knowledge of elementary probability and stochastic process theory. Introductory books at a suitable level include Ross (1976) for elementary probability and Cox and Miller (1965) for stochastic processes. We shall also use a variety of computer-intensive methods, both for simulating realisations of stochastic processes and more generally in Monte Carlo methods of inference, including Markov chain Monte Carlo. A good general introduction to simulation methods is Ripley (1987). Tanner (1996) presents a range of computational algorithms for likelihood-based and Bayesian inference. Gelman, Carlin, Stern and Rubin (2003) focus on Bayesian methods for a range of statistical models. Gilks, Richardson and Spiegelhalter (1996) discuss both theoretical and practical aspects of Markov chain Monte Carlo.

1.6 Computation The examples in this section, and in later chapters, use the freely available software R and the contributed R packages geoR and geoRglm. Readers should consult the R project website, http://www.r-project.org, for further information on the software and instructions on its installation. In the listing of the R code for the examples, the > sign is the R prompt and the remainder of the line denotes the R command entered by the user in response to the prompt. R commands are shown in slanted verbatim font like this. When a single command is spread over two or more lines, the second and subsequent lines of input are prompted by a + sign, rather than the > sign. The R system is based on subroutines called functions, which in turn can take arguments which control their behaviour. Function names are followed by parentheses, in the format function(), whereas arguments are written within the parentheses. Any lines without the > prompt represent outputs from a function which, by default, are passed back to the screen. They are shown in verbatim font like this.

1.6.1 Elevation data In our first example, we give the commands needed to load the geoR package, and to produce the circle plot of the elevation data, as shown in Figure 1.1.

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The example assumes that the data are stored in a standard three-column textfile elevation.dat located in the R working directory. The first two columns on each line give the (x, y)-coordinates of a location, whilst the third column gives the corresponding value of the measured elevation. The version of the data which can be downloaded from the book website is already formatted in this way. > require(geoR) > elevation points(elevation, cex.min = 1, cex.max = 4) The first command above uses the built-in R function require() to load the geoR package. The second command reads the data and converts them to an object of the class geodata using read.table() and as.geodata() internally. The last command invokes a method for points() which is provided by the package geoR. In this way, the generic R function points() is able to use the geoR function points.geodata() to produce the required plot of the data. The example includes optional settings for arguments which control the sizes of the plotted circles. By default, the diameters of the plotted circles are defined by a linear transformation of the measured elevations onto a scale ranging between cex.min and cex.max times the default plotting character size. The output returned when typing args(points.geodata) will show other arguments which can be used to modify the resulting plot. For example, > points(elevation, cex.min = 2, cex.max = 2, col = "gray") will plot the locations as filled circles with grey shades proportional to the measured elevation values, whereas > points(elevation, cex.min = 2, cex.max = 2, pt.div = "quint") will result in points filled with different colours according to the quintiles of the empirical distribution of measured elevations. Because the elevation data are also included in the geoR package, they can be loaded from within R, once the package itself has been loaded, by using the data() function, and explanatory documentation accessed using the help() function, as follows. > data(elevation) > help(elevation) There are several data-sets included in the package geoR which can be loaded with data(). Typing the command data(package="geoR") will show a list of the available data-sets with respective names and a short description. For each of them there is a help file explaining the data contents and format. Another, and often more convenient, way of running a sequence of R commands is to use source(). To do so, we first type the required sequence of commands, without the > at the beginning of each line, into a text file, say elevation.R, although any other legal file name could be used. We then invoke the whole sequence by responding to the R prompt with the single command

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> source("elevation.R") This option, or an equivalent mode of operation based on toggling between an editor and an R command window, is usually more efficient than typing R commands directly in response to the > prompt. The next example shows the output generated by applying the summary() function to the elevation data. The output includes the number of data points, the minimum and maximum values of the x and y coordinates and of the distances between pairs of points, together with summary statistics for the measured elevations. > summary(elevation) Number of data points: 52 Coordinates summary x y min 0.2 0.0 max 6.3 6.2 Distance summary min max 0.200000 8.275869 Data summary Min. 1st Qu. 690.0 787.5

Median 830.0

Mean 3rd Qu. 827.1 873.0

Max. 960.0

Another function which is useful for initial exploration of a set of data is the method plot.geodata(), which is invoked by default when a geodata object is supplied as an argument to the built-in plot() function. Its effect is to produce a 2 by 2 display showing the point locations, the measured values at each location against each of the coordinates, and a histogram of the measured values. This plot for the elevation data is shown in Figure 1.8, which is produced by the command > plot(elevation, lowess = T) The optional argument lowess = T adds a smooth curve to the scatterplots of the measured values against each of the spatial coordinates. The top-right panel of Figure 1.8 has been rotated by 90 degrees from the conventional orientation i.e., the measured values correspond to the horizontal rather than the vertical axis so that the spatial coordinate axes have the same interpretation throughout. These plots aim to investigate the behaviour of the data along the coordinates, which can be helpful in deciding whether a trend surface should be included in the model for the data. By default, the plot of the data locations shown in the top-left panel of Figure 1.8 uses circles, triangles, and vertical and diagonal crosses to correspond to the quartiles of the empirical distribution of measured values. On a computer screen, these points would also appear in dif-

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ferent colours: blue, green, yellow and red, respectively. The use of four distinct colours is the default for this function.

1.6.2 More on the geodata object The functions read.geodata() and as.geodata() store a geostatistical dataset in a particular format called a geodata object. A geodata object is a list which has two obligatory components: a matrix with the two-dimensional coordinates (coords) of the sampling design and a vector giving the corresponding measured value at each of the locations in the design (data). Four additional, optional components are: a matrix with coordinates defining the boundary of the polygonal study area (borders); a vector or data-frame with covariates (covariate); an offset variable (units.m); and a vector indexing the number of the realisation of the process if more than one is available (realisation), as for instance for data collected at different time points. These additional

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components, if present, are then used automatically by some of the geoR functions. The example below shows the components of some of the data-sets which are included in the geoR package as geodata objects. > names(elevation) $coords [1] "x" "y" $data [1] "data" > data(parana) > names(parana) $coords [1] "east"

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The slightly different results returned from the calls names(ca20) and names(unclass(ca20)) illustrate that some special methods have been provided to modify the way that standard R functions handle geodata objects; in this case the standard command names(ca20) recognises that ca20 is a geodata object, and invokes the non-standard method names.geodata(), whereas the command unclass(ca20) gives the standard result of the names function by removing the class geodata from the object ca20.

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Other, perhaps more useful methods to facilitate data manipulation are also implemented such as as.data.frame.geodata() which converts a geodata object to a data-frame and subset.geodata() which facilitates extracting subsets of geodata objects. Below we illustrate the usage of subset.geodata() on the ca20 data-set selecting data only within sub-area 3 in the first command and selecting only data greater than 70 in the second. > ca20.3 ca20.g70 70)

1.6.3 Rongelap data Our next example produces a circle plot for the Rongelap data, together with an enlarged inset of the western part of the island. The rongelap data-set is included with the geoRglm package. > require(geoRglm) > data(rongelap) The response to the command names(rongelap) reveals that the Rongelap geodata object has four components: coords contains the spatial coordinates; data contains the photon emission counts yi attributable to radioactive caesium; units.m is an offset variable which gives the values of ti , the time (in seconds) over which yi was accumulated; borders contains the coordinates of a digitisation of the island’s coastline. The function summary() recognises and summarises all four components. > names(rongelap) $coords NULL $data [1] "data" $units.m [1] "units.m" $other [1] "borders" > summary(rongelap) Number of data points: 157 Coordinates summary Coord.X Coord.Y min -6050 -3430 max -50 0

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Distance summary min max 40.000 6701.895 Borders summary [,1] [,2] min -6299.31201 -3582.2500 max 20.37916 103.5414 Data summary Min. 1st Qu. 75 1975

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We can use points() to visualise the data on a map of the study area as shown in Figure 1.2. For the enlargement of the western part of the island, we have used subarea() to select a subset of the original data-set whose spatial coordinates lie within a specified sub-area. The function subarea() accepts arguments xlim and/or ylim defining a rectangular sub-area. If these arguments are not provided the user is prompted to click on two points which then define the opposite corners of the required rectangular area. To produce the figure, we use the following sequence of commands. > > > + > > > >

points(rongelap) rongwest gambia[1:3, ] x y pos age netuse treated green phc 1850 349631.3 1458055 1 1783 0 0 40.85 1 1851 349631.3 1458055 0 404 1 0 40.85 1 1852 349631.3 1458055 0 452 1 0 40.85 1 Each line corresponds to one child. The columns are the coordinates of the village where the child lives (x and y), whether or not the child tested positive for malaria (pos), their age in days (age), usage of bed-net(netuse), whether the bed-net is treated with insecticide (treated ), the vegetation index measured at the village location (green) and the presence or absence of a health centre in the village (phc). To display the data as show in Figure 1.3 we use the gambia.map() function which is also included in geoR. > gambia.map()

1.6.5 The soil data The soil data shown in Example 1.4 are included in geoR and can be loaded with the commands data(ca20) and data(camg). The former loads only the calcium data, stored as a geodata object, whereas the latter loads a data-frame which includes both the calcium and the magnesium data. In order to produce the right-hand panel in Figure 1.5 we use the sequence of commands below. > > > > > > >

data(camg) mg20 summary(ca20) Number of data points: 178 Coordinates summary east north min 4957 4829 max 5961 5720 Distance summary min max 43.01163 1138.11774 Borders summary east north min 4920 4800 max 5990 5800 Data summary Min. 1st Qu. 21.00 43.00

Median 50.50

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Covariates summary altitude area Min. :3.300 1: 14 1st Qu.:5.200 2: 48 Median :5.650 3:116 Mean :5.524 3rd Qu.:6.000 Max. :6.600 Other elements in the geodata object [1] "reg1" "reg2" "reg3" The output above shows that the data contain 178 locations, with E-W coordinates ranging from 4957 to 5961 and N-S coordinates ranging from 4829 to 5720. The minimum distance between any two locations is about 43 units and the maximum 1138. The object also has a borders component which is a two-column matrix with rows corresponding to a set of coordinates defining the polygonal boundary of the study area. The function also shows summary statistics for the response variable and for the covariates. For the covariate area the summary indicates that 14, 48 and 116 locations lie within the sub-areas 1, 2 and 3, respectively.

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1.7 Exercises 1.1. Produce a plot of the Rongelap data in which a continuous colour scale or grey scale is used to indicate the value of the emission count per unit time at each location, and the two sub-areas with the 5 by 5 sub-grids at 50 metre spacing are shown as insets. 1.2. Construct a polygonal approximation to the boundary of The Gambia. Construct plots of the malaria data which show the spatial variation in the values of the observed prevalence in each village and of the greenness covariate. 1.3. Consider the elevation data as a simple regression problem with elevation as the response and north-south location as the explanatory variable. Fit the standard linear regression model using ordinary least squares. Examine the residuals from the linear model, with a view to deciding whether any more sophisticated treatment of the spatial variation in elevation might be necessary. 1.4. Find a geostatistical data-set which interests you. (a) What scientific questions are the data intended to address? Do these concern estimation, prediction, or testing? (b) Identify the study region, the design, the response and the covariates, if any. (c) What is the support of each response? (d) What is the underlying signal ? (e) If you wished to predict the signal throughout the study region, would you choose to interpolate the response data? 1.5. Load the Paran´ a data-set using the command data(parana) and inspect its documentation using help(parana). For these data, consider the same questions as were raised in Exercise 1.4.

2 An overview of model-based geostatistics

The aim of this chapter is to provide a short overview of model-based geostatistics, using the elevation data of Example 1.1 to motivate the various stages in the analysis. Although this example is very limited from a scientific point of view, its simplicity makes it well suited to the task in hand. Note, however, that Handcock and Stein (1993) show how to construct a useful explanatory variable for these data using a map of streams which run through the study region.

2.1 Design Statistical design is concerned with deciding what data to collect in order to address a question, or questions, of scientific interest. In this chapter, we shall assume that the scientific objective is to produce a map of surface elevation within a square study region whose side length is 6.7 units, or 335 feet (≈ 102 meters); we presume that this study region has been chosen for good reason, either because it is of interest in its own right, or because it is representative of some wider spatial region. In this simple setting, there are essentially only two design questions: at how many locations should we measure the elevation and where should we place these locations within the study region? In practice, the answer to the first question is usually dictated by limits on the investigator’s time or any additional cost in converting each field sample into a measured value. For example, some kinds of measurements involve expensive off-site laboratory assays, whereas others, such as surface elevation, can be

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measured directly in the field. For whatever reason, the answer in this example is 52. For the second question, two obvious candidate designs are a completely random design or a completely regular design. In the former, the locations xi form an independent random sample from the uniform distribution over the study area, that is a homogeneous planar Poisson process (Diggle 2003, chapter 1). In the latter, the xi form a regular lattice pattern over the study region. Classical sampling theory (Cochran, 1977) tends to emphasise the virtue of some form of random sampling to ensure unbiased estimation of underlying population characteristics, whereas spatial sampling theory (Matérn, 1960) shows that under typical modelling assumptions spatial properties are more efficiently estimated by a regular design. A compromise, which the originators of the surface elevation data appear to have adopted, is to use a design which is more regular than the completely random design but not as regular as a lattice. Lattice designs are widely used in applications. The convenience of lattice designs for fieldwork is obvious, and provided there is no danger that the spacing of the lattice will match an underlying periodicity in the spatial phenomenon being studied, lattice designs are generally efficient for spatial prediction (Matérn, 1960). In practice, the rigidity and simplicity of a lattice design also provide some protection against sub-conscious bias in the placing of the xi . Note in this context that, strictly, a regular lattice design should mean a lattice whose origin is located at random, to guard against any subjective bias. The soil data of Example 1.4 provide an example of a regular lattice design. Even more common in some areas of application is the opportunistic design, whereby geostatistical data are collected and analysed using an existing network of locations xi which may have been established for quite different purposes. Designs of this kind often arise in connection with environmental monitoring. In this context, individual recording stations may be set up to monitor pollution levels from particular industrial sources or in environmentally sensitive locations, without any thought initially that the resulting data might be combined in a single, spatial analysis. This immediately raises the possibility that the design may be preferential, in the sense discussed in Section 1.2.3. Whether they arise by intent or by accident, preferential designs run the risk that a standard geostatistical analysis may produce misleading inferences about the underlying continuous spatial variation.

2.2 Model formulation We now consider model formulation — unusually before, rather than after, exploratory data analysis. In practice, clean separation of these two stages is rare. However, in our experience it is useful to give some consideration to the kind of model which, in principle, will address the questions of interest before refining the model through the usual iterative process of data analysis followed by reformulation of the model as appropriate.

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For the surface elevation data, the scientific question is a simple one — how can we use the measured elevations to construct our best guess (or, in more formal language, to predict) the underlying elevation surface throughout the study region? Hence, our model needs to include a real-valued, spatially continuous stochastic process, S(x) say, to represent the surface elevation as a function of location, x. Depending on the nature of the terrain, we may want S(x) to be continuous, differentiable or many-times differentiable. Depending on the nature of the measuring device, or the skill of its operator, we may also want to allow for some discrepancy between the true surface elevation S(xi ) and the measured value Yi at the design location xi . The simplest statistical model which meets these requirements is a stationary Gaussian model, which we define below. Later, we will discuss some of the many possible extensions of this model which increase its flexibility. We denote a set of geostatistical data in its simplest form i.e., in the absence of any explanatory variables, by (xi , yi ) : i = 1, . . . , n where the xi are spatial locations and yi is the measured value associated with the location xi . The assumptions underlying the stationary Gaussian model are: 1. {S(x) : x ∈ IR2 } is a Gaussian process with mean μ, variance σ 2 = Var{S(x)} and correlation function ρ(u) = Corr{S(x), S(x )}, where u = ||x − x || and || · || denotes distance; 2. conditional on {S(x) : x ∈ IR2 }, the yi are realisations of mutually independent random variables Yi , normally distributed with conditional means E[Yi |S(·)] = S(xi ) and conditional variances τ 2 . The model can be defined equivalently as Yi = S(xi ) + Zi : i = 1, . . . , n where {S(x) : x ∈ IR2 } is defined by assumption 1 above and the Zi are mutually independent N(0, τ 2 ) random variables. We favour the superficially more complicated conditional formulation for the joint distribution of the Yi given the signal, because it identifies the model explicitly as a special case of the generalized linear geostatistical model which we introduced in Section 1.4. In order to define a legitimate model, the correlation function ρ(u) must be positive-definite. This condition imposes non-obvious constraints so as to ensure that, for any integer m, set of locations xi and real constants ai , the linear combination m i=1 ai S(xi ) will have non-negative variance. In practice, this is usually ensured by working within one of several standard classes of parametric model for ρ(u). We return to this question in Chapter 3. For the moment, we note only that a flexible, two-parameter class of correlation functions due to Matérn (1960) takes the form ρ(u; φ, κ) = {2κ−1 Γ(κ)}−1 (u/φ)κ Kκ (u/φ)

(2.1)

where Kκ (·) denotes the modified Bessel function of the second kind, of order κ. The parameter φ > 0 determines the rate at which the correlation decays to zero with increasing u. The parameter κ > 0 is called the order of the Matérn

30


model, and determines the differentiability of the stochastic process S(x), in a sense which we shall make precise in Chapter 3. Our notation for ρ(u) presumes that u ≥ 0. However, the correlation function of any stationary process must by symmetric in u, hence ρ(−u) = ρ(u). The stochastic variation in a physical quantity is not always well described by a Gaussian distribution. One of the simplest ways to extend the Gaussian model is to assume that the model holds after applying a transformation to the original data. For positive-valued response variables, a useful class of transformations is the Box-Cox family (Box and Cox, 1964): (Y λ − 1)/λ : λ = 0 ∗ Y = (2.2) log Y : λ = 0 Another simple extension to the basic model is to allow a spatially varying mean, for example by replacing the constant μ by a linear regression model for the conditional expectation of Yi given S(xi ), so defining a spatially varying mean μ(x). A third possibility is to allow S(x) to have non-stationary covariance structure. Arguably, most spatial phenomena exhibit some form of non-stationarity, and the stationary Gaussian model should be seen only as a convenient approximation to be judged on its usefulness rather than on its strict scientific provenance.

2.3 Exploratory data analysis Exploratory data analysis is an integral part of modern statistical practice, and geostatistics is no exception. In the geostatistical setting, exploratory analysis is naturally oriented towards the preliminary investigation of spatial aspects of the data which are relevant to checking whether the assumptions made by any provisional model are approximately satisfied. However, non-spatial aspects can and should also be investigated.

2.3.1 Non-spatial exploratory analysis For the elevation data in Example 1.1 the 52 data values range from 690 to 960, with mean 827.1, median 830 and standard deviation 62. A histogram of the 52 elevation values (Figure 2.1) indicates only mild asymmetry, and does not suggest any obvious outliers. This adds some support to the use of a Gaussian model as an approximation for these data. Also, because geostatistical data are, at best, a correlated sample from a common underlying distribution, the shape of their histogram will be less stable than that of an independent random sample of the same size, and this limits the value of the histogram as a diagnostic for non-normality. In general, an important part of exploratory analysis is to examine the relationship between the response and available covariates, as illustrated for the

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2.3.2 Spatial exploratory analysis The first stage in spatial exploratory data analysis is simply to plot the response data in relation to their locations, for example using a circle plot as shown for the surface elevation data in Figure 1.1. Careful inspection of this plot can reveal spatial outliers i.e., responses which appear grossly discordant with their spatial neighbours, or spatial trends which might suggest the need to include a trend surface model for a spatially varying mean, or perhaps qualitatively different behaviour in different sub-regions. In our case, the most obvious feature of Figure 1.1 is the preponderance of large response values towards the southern end of the study region. This suggests that a trend surface term in the model might be appropriate. In some applications, the particular context of the data might suggest that there is something special about the north-south direction — for example, for applications on a large geographical scale, we might expect certain variables relating to the physical environment to show a dependence on latitude. Otherwise, our view would be that if a trend surface is to be included in the model at all, then both of the spatial coordinates should contribute to it because the orientation of the study region is essentially arbitrary. Scatterplots of the response variable against each of the spatial coordinates can sometimes reveal spatial trends more clearly. Figure 2.2 show the surface elevations plotted against each of the coordinates, with lowess smooths (Cleveland, 1979, 1981) added to help visualisation. These plots confirm the north-south trend whilst additionally suggesting a less pronounced, non-monotone east-west

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trend, with higher responses concentrated towards the eastern and western edges of the study region. When interpreting plots of this kind it can be difficult, especially when analysing small data-sets, to distinguish between a spatially varying mean response and correlated spatial variation about a constant mean. Strictly speaking, without independent replication the distinction between a deterministic function μ(x) and the realisation of a stochastic process S(x) is arbitrary. Operationally, we make the distinction by confining ourselves to “simple” functions μ(x), for example low-order polynomial trend surfaces, using the correlation structure of S(x) to account for more subtle patterns of spatial variation in the response. In Chapter 5 we shall use formal, likelihood-based methods to guide our choice of model for both mean and covariance structure. Less formally, we interpret spatial effects which vary on a scale comparable to or greater than the dimensions of the study region as variation in μ(x) and smaller-scale effects as variation in S(x). This is in part a pragmatic strategy, since covariance functions which do not decay essentially to zero at distances shorter than the dimensions of the study region will be poorly identified, and in practice indistinguishable from spatial trends. Ideally, the model for the trend should also have a natural physical interpretation; for example, in an investigation of the dispersal of pollutants around a known source, it would be natural to model μ(x) as a function of the distance, and possibly the orientation, of x relative to the source. To emphasise this point, the three panels of Figure 2.3 compare the original Figure 1.1 with circle plots of residuals after fitting linear and quadratic trend surface models by ordinary least squares. If we assume a constant spatial mean for the surface elevations themselves, then the left-hand panel of Figure 2.3 indicates that the elevations must be very strongly spatially correlated, to the extent that the correlation persists at distances beyond the scale of the study region. As noted above, fitting a model of this kind to the data would result in poor identification of parameters describing the correlation structure. If, in

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Figure 2.3. Circle plot of the surface elevation data. The left-hand panel shows the original data. The centre and right-hand panels show the residuals from first-order (linear) and second-order (quadratic) polynomial trend surfaces, respectively, using empty and filled circles to represent negative and positive residuals and circle radii proportional to the absolute values of the residuals.

contrast, we use a linear trend surface to describe a spatially varying mean, then the central panel of Figure 2.3 still suggests spatial correlation because positive and negative residuals tend to occur together, but the scale of the spatial correlation is smaller. The right-hand panel of 2.3 has a qualitatively similar appearance to the centre panel, but the range of the residuals has been reduced, because some additional variation is taken up by the quadratic terms in the fitted trend surface. The range of the residuals is from −61.1 to +110.7 in the centre panel, and from −63.3 to +97.8 in the right-hand panel. Notwithstanding the above discussion, visual assessment of spatial correlation from a circle plot is difficult. For a sharper assessment, a useful exploratory tool is the empirical variogram. We discuss theoretical and empirical variograms in more detail in Chapters 3 and 5, respectively. Here, we give only a brief description. For a set of geostatistical data (xi , yi ) : i = 1, . . . , n, the empirical variogram ordinates are the quantities vij = 12 (yi −yj )2 . For obvious reasons, some authors refer to these as the semi-variogram ordinates. If the yi have spatially constant mean and variance, then vij has expectation σ 2 {1 − ρ(xi , xj )} where σ 2 is the variance and ρ(xi , xj ) denotes the correlation between yi and yj . If the yi are generated by a stationary spatial process, then ρ(·) depends only on the distance between xi and xj and typically approaches zero at large distances, hence the expectation of the vij approaches a constant value, σ 2 , as the distance uij between xi and xj increases. If the yi are uncorrelated, then all of the vij have expectation σ 2 . These properties motivate the definition of the empirical variogram as a plot of vij against the corresponding distance uij . A more easily interpretable plot is obtained by averaging the vij within distance bands. The left-hand panel of Figure 2.4 shows a variogram for the original surface elevations, whilst the right-hand panel shows variograms for residuals from the linear and quadratic trend surface models, indicated by solid and dashed lines, respectively. In the left-hand panel, the variogram increases throughout the

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plotted range, indicating that if these data were generated by a stationary stochastic process, then the range of its spatial correlation must extend beyond the scale of the study region. Pragmatically, including a spatially varying mean is a better modelling strategy. The solid line on the right-hand panel shows behaviour more typical of a stationary, spatially correlated process i.e., an initial increase levelling off as the correlation decays to zero at larger distances. Finally, the shape of the variogram in the dashed line on the right-hand panel is similar to the solid one but its range is smaller by a factor of about 0.6. The range of values in the ordinates of the empirical variogram is approximately equal to the variance of the residuals, hence the reduction in range again indicates how the introduction of progressively more elaborate models for the mean accounts for correspondingly more of the empirical variation in the original data. Note also that in both panels of Figure 2.4 the empirical variogram approaches zero at small distances. This indicates that surface elevation is being measured with negligible error, relative to either the spatial variation in the surface elevation itself (left-hand panel), or the residual spatial variation about the linear or quadratic trend surface (right-hand panel). This interpretation follows because the expectation of vij corresponding to two independent measurements, yi and yj , at the same location is simply the variance of the measurement error. We emphasise that, for reasons explained in Chapter 5, we prefer to use the empirical variogram only as an exploratory tool, rather than as the basis for formal inference. With this proviso, Figure 2.4 gives a strong indication that a stationary model is unsuitable for these data, whereas the choice between the linear and quadratic trend surface models is less clear-cut. When an empirical variogram appears to show little or no spatial correlation, it can be useful to assess more formally whether the data are compatible with an underlying model of the form yi = μ(xi ) + zi where the zi are uncorrelated residuals about a spatially varying mean μ(x). A simple way to do

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Figure 2.5. Monte Carlo envelopes for the variogram of ordinary least squares residuals of the surface elevation data after fitting linear (left-hand panel) or quadratic (right-hand panel) trend surface models.

this is to compute residuals about a fitted mean μ ˆ(x) and to compare the residual empirical variogram with the envelope of empirical variograms computed from random permutations of the residuals, holding the corresponding locations fixed. The left-hand panel of Figure 2.5 shows a variogram envelope obtained from 99 independent random permutations of the residuals from a linear trend surface fitted to the surface elevations by ordinary least squares. This shows that the increasing trend in the empirical variogram is statistically significant, confirming the presence of positive spatial correlation. The same technique applied to the residuals from the quadratic trend surface produces the diagram shown as the right-hand panel of Figure 2.5. This again indicates significant spatial correlation, although the result is less clear-cut than before, as the empirical variogram ordinates at distances 0.5 and 1.0 fall much closer to the lower simulation envelope than they do in the left-hand panel.

2.4 The distinction between parameter estimation and spatial prediction Before continuing with our illustrative analysis of the surface elevation data, we digress to expand on the distinction between estimation and prediction. Suppose that S(x) represents the level of air pollution at the location x, that we have observed (without error, in this hypothetical example) the values Si = S(xi ) at a set of locations xi : i = 1, . . . , n forming a regular lattice over a spatial region of interest, A, and that we wish to learn about the average level of pollution over the region A. An intuitively reasonable estimate is the sample

36


mean, S¯ = n−1

n

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i=1

What precision should we attach to this estimate? Suppose that S(x) has a constant expectation, θ = E[S(x)] for any location x in A. One possible interpretation of S¯ is as an estimate of θ, in which case an appropriate measure of precision is the mean square error, E[(S¯ − θ)2 ]. This is ¯ which we can calculate as just the variance of S, n−2

n n

Cov(Si , Sj ).

(2.4)

i=1 j=1

For a typical geostatistical model, the correlation between any two Si and Sj will be either zero or positive, and (2.4) will therefore be larger than the naive expression for the variance of a sample mean, σ 2 /n where σ 2 = Var{S(x)}. If we regard S¯ as a predictor of the spatial average, −1 SA = |A| S(x)dx, A

where |A| is the area of A, then the mean square prediction error is E[(S¯ −SA )2 ]. Noting that SA is a random variable, we write this as E[(S¯ − SA )2 ] = n−2

n n

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+ |A|−2

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A

In particular, the combined effect of the second and third terms on the righthand side of (2.5) can easily be to make the mean square prediction error smaller than the naive variance formula. For example, if we increase the sample size n by progressively decreasing the spacing of the lattice points xi , (2.5) approaches zero, whereas (2.4) does not.

2.5 Parameter estimation For the stationary Gaussian model, the parameters to be estimated are the mean μ and any additional parameters which define the covariance structure of the data. Typically, these include the signal variance σ 2 , the conditional or measurement error variance τ 2 and one or more correlation function parameters φ. In geostatistical practice, these parameters can be estimated in a number of different ways which we shall discuss in detail in Chapter 5. Our preference

2.6. Spatial prediction

37

here is to use the method of maximum likelihood within the declared Gaussian model. For the elevation data, if we assume a stationary Gaussian model with a Matérn correlation function and a fixed value κ = 1.5, the maximum likelihood estimates of the remaining parameters are μ ˆ = 848.3, σ ˆ 2 = 3510.1, τˆ2 = 48.2 ˆ and φ = 1.2. However, our exploratory analysis suggested a model with a non-constant mean. Here, we assume a linear trend surface, μ(x) = β0 + β1 d1 + β2 d2 where d1 and d2 are the north-south and east-west coordinates. In this case the parameter estimates are βˆ0 = 912.5, βˆ1 = −5, βˆ2 = −16.5, σ ˆ 2 = 1693.1, 2 ˆ τˆ = 34.9 and φ = 0.8. Note that because the trend surface accounts for some of the spatial variation, the estimate of σ 2 is considerably smaller than for the stationary model, and similarly for the parameter φ which corresponds to the range of the spatial correlation. As anticipated, for either model the estimate of τ 2 is much smaller than the estimate of σ 2 . The ratio of τˆ2 to σ ˆ 2 is 0.014 for the stationary model, and 0.021 for the linear trend surface model.

2.6 Spatial prediction For prediction of the underlying, spatially continuous elevation surface we shall here illustrate perhaps the simplest of all geostatistical methods: simple kriging. In our terms, simple kriging is minimum mean square error prediction under the stationary Gaussian model, but ignoring parameter uncertainty i.e., estimates of all model parameters are plugged into the prediction equations as if they were the true parameter values. As discussed earlier, we do not claim that this is a good model for the surface elevation data. ˆ The minimum mean square error predictor, S(x) say, of S(x) at an arbitrary location x is the function of the data, y = (y1 , . . . , yn ), which minimises the ˆ quantity E[{S(x) − S(x)}2 ]. A standard result, which we discuss in Chapter 6, ˆ is that S(x) = E[S(x)|y]. For the stationary Gaussian process, this conditional expectation is a linear function of the yi , namely ˆ S(x) = μ+

n

wi (x)(yi − μ)

(2.6)

i=1

where the wi (x) are explicit functions of the covariance parameters σ 2 , τ 2 and φ. The top-left panel of Figure 2.6 gives the result of applying (2.6) to the surface elevation data, using as values for the model parameters the maximum likelihood estimates reported in Section 2.5, whilst the bottom-left panel shows √ the corresponding prediction standard errors, SE(x) = Var{S(x)|y}. The predictions follow the general trend of the observed elevations whilst smoothing out local irregularities. The prediction variances are generally small at locations close to the sampling locations, because τˆ2 is relatively small; had we used the

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Figure 2.6. Simple kriging predictions for the surface elevation data. The top-left panel shows the simple kriging predictor as a grey-scale image and contour plot; sampling locations are plotted as circles with radii proportional to observed elevations. The bottom-left panel shows the prediction standard deviations; sampling locations are plotted as small crosses. The top-right and bottom-right panels give the same information, but based on the model with a linear trend surface.

value τ 2 = 0 the prediction standard error would have been exactly zero at each ˆ sampling location and the predicted surface S(x) would have interpolated the observed responses yi . It is straightforward to adapt the simple kriging formula (2.6) to incorporate a spatially varying mean. We simply replace the constant μ on the right-handside of (2.6) by a spatial trend, μ(x). If we do this, using the linear trend surface model and its associated maximum likelihood parameter estimates we obtain the results summarised in the top-right and bottom-right panels of Figure 2.6. The plots corresponding to the two different models are directly comparable because they use a common grey scale within each pair. Note in particular that in this simple example, the dubious assumption of stationarity has not

2.7. Definitions of distance

39

prevented the simple kriging methodology from producing a predicted surface which captures qualitatively the apparent spatial trend in the data, and which is almost identical to the predictions obtained using the more reasonable linear trend surface model. The two models produce somewhat different prediction standard errors; these range between 0 and 25.5 for the stationary model, between 0 and 24.4 for the model with the linear trend surface and between 0 and 22.9 for the model with the quadratic trend surface. The differences amongst the three models are rather small. They are influenced by several different aspects of the data and model, including the data configuration and the estimated values of the model parameters. In other applications, the choice of model may have a stronger impact on the predictive inferences we make from the data, even when this choice does not materially affect the point predictions of the underlying surface S(x). Note also that the plug-in standard errors quoted here do not account for parameter uncertainty.

2.7 Definitions of distance A fundamental stage in any geostatistical analysis is to define the metric for calculating the distance between any two locations. By default, we use the standard planar Euclidean distance i.e., the “straight-line distance” between two locations in IR2 . Non-Euclidean metrics may be more appropriate for some applications. For example, Rathbun (1998) discusses the measurement of distance between points in an estuarine environment where, arguably, two locations which are close in the Euclidean metric but separated by dry land should not be considered as near neighbours. It is not difficult to think of other settings where natural barriers to communication might lead the investigator to question whether it is reasonable to model spatial correlation in terms of straight-line distance. Even when straight-line distance is an appropriate metric, if the study region is geographically extensive, distances computed between points on the earth’s surface should strictly be great-circle distances, rather than straight-line distances on a map projection. Using (θ, φ) to denote a location in degrees of longitude and latitude, and treating the earth as a sphere of radius r = 6378 kilometres, the great-circle distance between two locations is r cos−1 {sin φ1 sin φ2 + cos φ1 cos φ2 cos(θ1 − θ2 )}. section 3.2 of Waller and Gotway (2004) gives a nice discussion of this issue from a statistical perspective. Banerjee (2005) examines the effect of distance computations on geostatistical analysis and concludes that the choice of metric may influence the resulting inferences, both for parameter estimation and for prediction. Note in particular that degrees of latitude and longitude represent approximately equal distances only close to the equator. Distance calculations are especially relevant to modelling spatial correlation, hence parameters which define the correlation structure are particularly sensitive to the choice of metric. Furthermore, the Euclidean metric plays an integral part in determining valid classes of correlation functions using Bochner’s the-

40


orem (Stein, 1999). Our geoR software implementation only calculates planar Euclidean distances.

2.8 Computation The non-spatial exploratory analysis of the surface elevation data reported in this chapter uses only built-in R functions as follows. > > + > > + >

with(elevation, hist(data, main = "", xlab = "elevation")) with(elevation, plot(coords[, 1], data, xlab = "W-E", ylab = "elevation data", pch = 20, cex = 0.7)) lines(lowess(elevation$data ~ elevation$coords[, 1])) with(elevation, plot(coords[, 2], data, xlab = "S-N", ylab = "elevation data", pch = 20, cex = 0.7)) lines(with(elevation, lowess(data ~ coords[, 2])))

To produce circle plots of the residual data we use the geoR function points.geodata(), which is invoked automatically when a geodata object is passed as an argument to the built-in function points(), as indicated below. The argument trend defines a linear model on the covariates from which the residuals are extracted for plotting. The values "1st" and "2nd" passed to the argument trend are aliases to indicate first-degree and second-degree polynomials on the coordinates. More details and other options to specify the trend are discussed later in this section and in the documentation for trend.spatial(). Setting abs=T instructs the function to draw the circles with radii proportional to the absolute values of the residuals. > points(elevation, cex.max = 2.5) > points(elevation, trend = "1st", pt.div = 2, abs = T, + cex.max = 2.5) > points(elevation, trend = "2nd", pt.div = 2, abs = T, + cex.max = 2.5) To calculate and plot the empirical variograms shown in Figure 2.4 for the original data and for the residuals, we use variog(). The argument uvec defines the classes of distance used when computing the empirical variogram, whilst plot() recognises that its argument is a variogram object, and automatically invokes plot.variogram(). The argument trend is used to indicate that the variogram should be calculated from the residuals about a fitted trend surface. > + > + > > + >

plot(variog(elevation, uvec = seq(0, 5, by = 0.5)), type = "b") res1.v > > >

set.seed(231) mc1 ml1 ml1 likfit: estimated model parameters: beta0 beta1 beta2 " 912.4865" " -4.9904" " -16.4640" " phi " 0.8061"

tausq sigmasq 34.8953" "1693.1329"

likfit: maximised log-likelihood = -240.1 To carry out the spatial interpolation using simple kriging we first define, and store in the object locs, a grid of locations at which predictions of the values of the underlying surface are required. The function krige.control() then defines the model to be used for the interpolation, which is carried out by krige.conv(). In the example below, we first obtain predictions for the stationary model, and then for the model with a linear trend on the coordinates. If required, the user can restrict the trend surface model, for example by specifying a linear trend is the north-south direction. However, as a general rule we prefer our inferences to be invariant to the particular choice of coordinate

42


axes, and would therefore fit both linear trend parameters or, more generally, full polynomial trend surfaces. > > > > + >

locs > > > > + > + > > + > + >

pred.lim data(ca20) > plot(ca20, trend = ~area, qt.col = 1) The plotting functions in geoR also accept an optional argument lambda which specifies the numerical value for the parameter of the Box-Cox family of transformations, with default lambda=1 corresponding to no transformation. For example, the command > plot(ca20, lambda = 0) sets the Box-Cox transformation parameter to λ = 0, which will then produce plots using the logarithm of the original response variable.

2.9. Exercises

45

2.9 Exercises 2.1. Investigate the R packages splancs or spatstat, both of which provide functions for the analysis of spatial point pattern data. Use either of these packages to confirm (or not, as the case may be) that the design used for the surface elevation data is more regular than a completely random design. 2.2. Consider the following two models for a set of responses, Yi : i = 1, . . . , n associated with a sequence of positions xi : i = 1, . . . , n along a onedimensional spatial axis x. (a) Yi = α + βxi + Zi , where α and β are parameters and the Zi are 2 mutually independent with mean zero and variance σZ . (b) Yi = A + Bxi + Zi where the Zi are as in (a) but A and B are now random variables, independent of each other and of the Zi , each with 2 2 mean zero and respective variances σA and σB . For each of these models, find the mean and variance of Yi and the covariance between Yi and Yj for any j = i. Given a single realisation of either model, would it be possible to distinguish between them? 2.3. Suppose that Y = (Y1 , . . . , Yn ) follows a multivariate Gaussian distribution with E[Yi ] = μ and Var{Yi } = σ 2 and that the covariance matrix of Y can be expressed as V = σ 2 R(φ). Write down the log-likelihood function for θ = (μ, σ 2 , φ) based on a single realisation of Y and obtain explicit expressions for the maximum likelihood estimators of μ and σ 2 when φ is known. Discuss how you would use these expressions to find maximum likelihood estimators numerically when φ is unknown. 2.4. Load the ca20 data-set with data(ca20). Check the data-set documentation with help(ca20). Perform an exploratory analysis of these data. Would you include a trend term in the model? Would you recommend a data transformation? Is there evidence of spatial correlation? 2.5. Load the Paran´ a data with data(parana) and repeat Exercise 2.4.

3 Gaussian models for geostatistical data

Gaussian stochastic processes are widely used in practice as models for geostatistical data. These models rarely have any physical justification. Rather, they are used as convenient empirical models which can capture a wide range of spatial behaviour according to the specification of their correlation structure. Historically, one very good reason for concentrating on Gaussian models was that they are uniquely tractable as models for dependent data. With the increasing use of computationally intensive methods, and in particular of simulation-based methods of inference, the analytic tractability of Gaussian models is becoming a less compelling reason to use them. Nevertheless, it is still convenient to work within a standard model class in routine applications. The scope of the Gaussian model class can be extended by using a transformation of the original response variable, and with this extra flexibility the model often provides a good empirical fit to data. Also, within the specific context of geostatistics, the Gaussian assumption is the model-based counterpart of some widely used geostatistical prediction methods, including simple, ordinary and universal kriging (Journel and Huijbregts, 1978; Chilès and Delfiner, 1999). We shall use the Gaussian model initially as a model in its own right for geostatistical data with a continuously varying response, and later as an important component of a hierarchically specified generalised linear model for geostatistical data with a discrete response variable, as previously discussed in Section 1.4.

3.1 Covariance functions and the variogram A Gaussian spatial process, {S(x) : x ∈ IR2 }, is a stochastic process with the property that for any collection of locations x1 , . . . , xn with each xi ∈ IR2 ,

3.1. Covariance functions and the variogram

47

the joint distribution of S = {S(x1 ), . . . , S(xn )} is multivariate Gaussian. Any process of this kind is completely specified by its mean function, μ(x) = E[S(x)], and its covariance function, γ(x, x ) = Cov{S(x), S(x )}. In any such process, consider an arbitrary set of locations x1 , . . . , xn , define S = {S(x1 ), . . . , S(xn )}, write μS for the n-element vector with elements μ(xi ) and G for the n × n matrix with elements Gij = γ(xi , xj ). Then, S follows a multivariate Gaussian distribution with mean vector μS and covariance matrix G. We write thisas S ∼ MVN(μS , G). n let T = i=1 ai S(xi ). Then T is univariate Gaussian with mean μT = Now, n i=1 ai μ(xi ) and variance σT2 =

n n

ai aj Gij = a Ga,

i=1 j=1

where a = (a1 , . . . , an ). It must therefore be the case that a Ga ≥ 0. This condition, which must hold for all choices of n, (x1 , . . . , xn ) and (a1 , . . . , an ) constrains G to be a positive definite matrix, and the corresponding γ(·) to be a positive definite function. Conversely, any positive definite function γ(·) is a legitimate covariance function for a spatial Gaussian process. A spatial Gaussian process is stationary if μ(x) = μ, a constant for all x, and γ(x, x ) = γ(u), where u = x − x i.e., the covariance depends only on the vector difference between x and x . Additionally, a stationary process is isotropic if γ(u) = γ(||u||), where || · || denotes Euclidean distance i.e., the covariance between values of S(x) at any two locations depends only on the distance between them. Note that the variance of a stationary process is a constant, σ 2 = γ(0). We then define the correlation function to be ρ(u) = γ(u)/σ 2 . The correlation function is symmetric in u i.e., ρ(−u) = ρ(u). This follows from the fact that for any u, Corr{S(x), S(x−u)} = Corr{S(x−u), S(u)} = Corr{S(x), S(x+u)}, the second equality following from the stationarity of S(x). Hence, ρ(u) = ρ(−u). From now on, we will use u to mean either the vector x−x or the scalar ||x−x || according to context. We will also use the term stationary as a shorthand for stationary and isotropic. A process for which S(x) − μ(x) is stationary is called covariance stationary. Processes of this kind are very widely used in practice as models for geostatistical data. In Chapter 2, we introduced the empirical variogram as a tool for exploratory data analysis. We now consider the theoretical variogram as an alternative characterisation of the second-order dependence in a spatial stochastic process. The variogram of a spatial stochastic process S(x) is the function V (x, x ) =

1 Var{S(x) − S(x )}. 2

(3.1)

Note that V (x, x ) = 12 [Var{S(x)} + Var{S(x )} − 2Cov{S(x), S(x )}]. In the stationary case, this simplifies to V (u) = σ 2 {1 − ρ(u)} which, incidentally, explains why the factor of one-half is conventionally included in the definition of the variogram. The variogram is also well defined as a function of u for a limited class of non-stationary processes; a one-dimensional example is a simple random walk, for which V (u) = αu. Processes which are non-stationary but for which

48

3. Gaussian models for geostatistical data

V (u) is well-defined are called intrinsic random functions (Matheron, 1973). We discuss these in more detail in Section 3.9. In the stationary case the variogram is theoretically equivalent to the covariance function, but it has a number of advantages as a tool for data analysis, especially when the data locations form an irregular design. We discuss the data analytic role of the variogram in Chapter 5. Conditions for the theoretical validity of a specified class of variograms are usually discussed in terms of the corresponding family of covariance functions. Gneiting, Sasv´ ari and Schlather (2001) present analogous results in terms of variograms.

3.2 Regularisation In Section 1.2.1 we discussed briefly how the support of a geostatistical measurement could affect our choice of a model for the data. When the support for each measured value extends over an area, rather than being confined to a single point, the modelled signal S(x) should strictly be represented as S(x) = w(r)S ∗ (x − r)dr, (3.2) where S ∗ (·) is an underlying, unobserved signal process and w(·) is a weighting function. In this case, the form of w(·) constrains the allowable form for the covariance function of S(·). Specifically, if γ(·) and γ ∗ (·) are the covariance functions of S(·) and S ∗ (·), respectively, it follows from (3.2) that (3.3) γ(u) = w(r)w(s)γ ∗ (u + r − s)drds. Now make a change of variable in (3.3) from s to t = r − s, and define W (t) = w(r)w(t − r)dr. Then (3.3) becomes

γ(u) =

W (t)γ ∗ (u + t)dt.

(3.4)

Typical weighting functions w(r) would be radially symmetric, non-negative valued and non-increasing functions of ||r||; this holds for the effect of the gamma camera integration in Example 1.3, where w(r) is not known explicitly but is smoothly decreasing in ||r||, and for the soil core data of Example 1.4, where w(·) is the indicator corresponding to the circular cross section of each core. In general, the effect of weighting functions of this kind is to make S(x) vary more smoothly than S ∗ (x), with a similar effect on γ(u) by comparison with γ ∗ (u). An analogous result holds for the relationship between the variograms of S(·) and S ∗ (·). Using the relationship that V (u) = γ(0) − γ(u) it follows from (3.4) that V (u) = W (t){V ∗ (t + u) − V ∗ (t)}dt. (3.5)

3.3. Continuity and differentiability of stochastic processes

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If the form of the weighting function w(·) is known, it would be possible to incorporate it into our model for the data. This would mean specifying a model for the covariance function of S (·) and evaluating (3.4) to derive the corresponding covariance function of S(·). Note that this would enable data with different supports to be combined naturally, for example soil core data using different sizes of core. A more pragmatic strategy, and the only available one if w(·) is unknown, is to specify directly an appropriately smooth model for the covariance function of S(·). The question of regularisation can also arise in connection with prediction, rather than model formulation. The simplest geostatistical prediction problem is to map the spatial signal S(x), but in some applications a more relevant target for prediction might be a map of a regularised signal, T (x) = S(u)du, where the integral is over a disc with centre x i.e., T (x) is a spatial average over the disc. We return to questions of this kind in Chapter 6.

3.3 Continuity and differentiability of stochastic processes The specification of the covariance structure of a spatial process S(x) directly affects the smoothness of the surfaces which the process generates. Accepted mathematical descriptors of the smoothness of a surface are its continuity and differentiability. However, for stochastically generated surfaces S(x) we need to distinguish two kinds of continuity or differentiability. In what follows, we shall consider a one-dimensional space x, essentially for notational convenience. We first consider mean-square properties, defined as follows. A stochastic process S(x) is mean-square continuous if E[{S(x + h) − S(x)}2 ] → 0 as h → 0. Also, S(x) is mean-square differentiable, with mean-square derivative S (x), if 2 S(x + h) − S(x) − S (x) E →0 h as h → 0. Higher-order mean-square differentiability is then defined sequentially in the obvious way; S(x) is twice mean-square differentiable if S (x) is meansquare differentiable, and so on. An important result, described for example in Bartlett (1955), is the following. Theorem 3.1. A stationary stochastic process with correlation function ρ(u) is k times mean-square differentiable if and only if ρ(u) is 2k times differentiable at u = 0. To examine differentiability at the origin of any particular correlation function ρ(u), we need to consider the extended form of ρ(u) in which u can take positive


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or negative arguments with ρ(−u) = ρ(u). Hence, for example, the exponential correlation function ρ(u) = exp(−u/φ) is continuous but not differentiable at the origin. In contrast, the Gaussian correlation function, defined by ρ(u) = exp{−(u/φ)2 }, is infinitely differentiable. A second version of continuity and differentiability properties concerns path continuity and differentiability. A process S(x) is path-continuous, or more generally k times path-differentiable if its realisations are continuous or k times differentiable functions, respectively. In general, there need be no link between mean-square and path properties of stochastic processes. As a simple example, we can consider a binary-valued process S(x) in which the real line is partitioned into a sequence of random intervals, whose lengths are independent realisations from a unit-mean exponential distribution, the value of S(x) within each interval is zero with probability p, one otherwise, and the values of S(x) on successive intervals are determined independently. Figure 3.1 shows a realisation with p = 0.5. Clearly, this process is not path-continuous. However, its correlation function is the exponential, ρ(u) = exp(−u), which is continuous at u = 0, hence S(x) is mean-square continuous. Kent (1989) gives a rigorous theoretical discussion of path-continuity for stationary, not necessarily Gaussian processes. Write ρ(u) = pm (u) + rm (u), where pm (u) is the polynomial of degree m given by the Taylor series expansion of ρ(u) about u = 0. Then, a sufficient condition for the existence of a pathcontinuous two-dimensional stationary process with correlation function ρ(·) is that ρ(·) is twice continuously differentiable and |r2 (u)| = O(u2 /| log u|3+γ ) as u → 0, for some γ > 0. A slightly stronger condition which is easier to check in practice is that |r2 (u)| = O(u2+ ) for some > 0. For stationary Gaussian processes in two dimensions, a sufficient condition for path-continuity is that ρ(0) − ρ(u) = O(1/| log u|1+ ), which is only slightly stronger than the requirement for mean-square continuity, namely that ρ(·) is continuous at the origin.

3.4. Families of covariance functions and their properties

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This justifies using mean-square differentiability as a convenient measure of the smoothness of stationary Gaussian processes when considering their suitability as empirical models for natural phenomena.

3.4 Families of covariance functions and their properties Positive definiteness is the necessary and sufficient condition for a parametric family of functions to define a legitimate class of covariance functions, but this is not an easy condition to check directly. For this reason, it is useful to have available a range of standard families which are known to be positive definite but in other respects are sufficiently flexible to meet the needs of applications to geostatistical data. In this section, we give the details of several such families and outline their properties. Our concern here is with models for processes in two spatial dimensions. All of the covariance families which we describe are also valid in one or three dimensions. In general, a valid covariance family in IRd does not necessarily remain valid in more than d spatial dimensions, but is automatically valid in dimensions less than d.

3.4.1 The Matérn family The most common form of empirical behaviour for stationary covariance structure is that the correlation between S(x) and S(x ) decreases as the distance u = ||x − x || increases. It is therefore natural to look for models whose theoretical correlation structure behaves in this way. In addition, we can expect that different applications may exhibit different degrees of smoothness in the underlying spatial process S(x). The Matérn family of correlation functions, named after Matérn (1960), meets both of these requirements. It is a two-parameter family, ρ(u) = {2κ−1 Γ(κ)}−1 (u/φ)κ Kκ (u/φ),

(3.6)

in which Kκ (·) denotes a modified Bessel function of order κ, φ > 0 is a scale parameter with the dimensions of distance, and κ > 0, called the order, is a shape parameter which determines the analytic smoothness of the underlying process S(x). Specifically, S(x) is κ−1 times mean-square differentiable, where κ denotes the smallest integer greater than or equal to κ Figure 3.2 shows the Matérn correlation function for each of κ = 0.5, 1.5 and 2.5, corresponding to processes S(x) which are mean-square continuous, once differentiable and twice differentiable, respectively. In the diagram, the values of φ have been adjusted so as to give all three functions the same practical range, which we define here as the distance u at which the correlation is 0.05. For Figure 3.2 we used u = 0.75 as the value of the practical range. For κ = 0.5, the Matérn correlation function reduces to the exponential, ρ(u) = exp(−u/φ), whilst as κ → ∞, ρ(u) → exp{−(u/φ)2 } which is also called the Gaussian correlation function or, somewhat confusingly in the present context, the Gaus-

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sian model. Whittle (1954) proposed the special case of the Matérn correlation function with κ = 1. Note that the parameters φ and κ in (3.6) are non-orthogonal, in the following sense. If the true correlation structure is Matérn with parameters φ and κ, then the best-fitting approximation with order κ∗ = κ will also have φ∗ = φ. In other words, scale parameters corresponding to different orders of Matérn correlation are not directly comparable. The relationship between the practical range and the scale parameter φ therefore depends on the value of κ. For instance, the practical range as defined above is approximately 3φ, 4.75φ and 5.92φ for the √ Matérn functions with κ = 0.5, 1.5 and 2.5, respectively, and 3φ for the Gaussian correlation function. For this reason, Handcock and Wallis (1994) suggest a re-parametrisation of (3.6) from κ and φ to a more nearly orthogonal √ pair κ and α = 2φ κ. The re-parametrisation does not, of course, change the model but is relevant to our discussion of parameter estimation in Chapters 5 and 7. Figure 3.3 shows a one-dimensional trace through a simulated realisation of a spatial Gaussian process with each of the Matérn correlation functions above, using the same random seed for all three realisations. The increasing analytic smoothness of the process as κ increases is reflected in the visual appearance of the three realisations, but the more noticeable difference is between the nondifferentiable and the differentiable case i.e., between κ = 0.5 on the one hand and κ = 1.5 or κ = 2.5 on the other. Figure 3.4 shows simulated two-dimensional realisations of Gaussian processes whose correlation functions are Matérn with κ = 0.5 and κ = 2.5, again using the same random number seed to make the realisations directly comparable. The difference in smoothness between the non-differentiable and differentiable cases is again visually striking.

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3.4.2 The powered exponential family This family is defined by the correlation function ρ(u) = exp{−(u/φ)κ }.

(3.7)

Like the Matérn family, it has a scale parameter φ > 0, a shape parameter κ, in this case bounded by 0 < κ ≤ 2, and generates correlation functions which are monotone decreasing in u. Also like the Matérn family the relation between the practical range and the parameter φ will depend on the value of κ. However, the family is less flexible than the Matérn, in the sense that the underlying Gaussian process S(x) is mean-square continuous and not mean-

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square differentiable for all 0 < κ < 2 but infinitely mean square differentiable when κ = 2, the maximum legitimate value. Figure 3.5 shows the powered exponential correlation function for each of κ = 0.7, 1 and 2, and with values of φ adjusted to provide the same practical range of 0.75. Figure 3.6 shows onedimensional realisations of the corresponding Gaussian processes S(x). We used the same seed as for the earlier simulations of the Matérn model. The realisation for the powered exponential model with κ = 1 is therefore the same as for the Matérn model with κ = 0.5. Notice that the realisations for κ = 0.7 and κ = 1, both of which correspond to mean-square continuous but non-differentiable processes, look rather similar in character. The extreme case κ = 2, which is equivalent to the limiting case of a Matérn correlation function as κ → ∞, can generate very ill-conditioned covariance structure. A process S(x) with this correlation function has the theoretical property that its realisation on an arbitrarily small, continuous interval determines the realisation on the whole real line. For most applications, this would be considered unrealistic.

3.4.3 Other families In classical geostatistics, the spherical family is widely used. This has correlation function 1 − 32 (u/φ) + 12 (u/φ)3 : 0 ≤ u ≤ φ ρ(u) = (3.8) 0 : u>φ where φ > 0 is a single parameter with the dimensions of distance. One qualitative difference between this and the families described earlier is that it has a finite range i.e., ρ(u) = 0 for sufficiently large u, namely u > φ. The spherical family lacks flexibility by comparison with the two-parameter Matérn class. Also, ρ(u) is only once differentiable at u = φ, which causes technical difficulties with maximum likelihood estimation (Warnes and Ripley, 1987; Mardia and Watkins, 1989). The left-hand panel in Figure 3.7 shows the spherical cor-

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relation function when φ = 0.75. The corresponding Gaussian process S(x) is mean-square continuous but non-differentiable. The name and algebraic form of the spherical family derives from the geometry of intersecting spheres; see Exercise 3.3. Non-monotone correlation functions are rare in practice. One example of a valid non-monotone family is ρ(u) = (u/φ)−1 sin(u/φ)

(3.9)

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behaviour of this correlation function, whilst Figure 3.8 shows a realisation of the corresponding process S(x). Notice how the oscillatory nature of the correlation function is reflected in the oscillatory behaviour of the simulated realisation. Other classes of correlation function, and criteria to check the validity of candidate functions, are described in Schlather (1999), who in turn draws on material in Gneiting (1997). However, for most geostatistical applications the families described here should be sufficient, if only because more elaborate models are hard to identify unless the available data are abundant. In general, we favour the Matérn family because of its flexibility, coupled with the tangible interpretation of the shape parameter κ as a measure of the differentiability of the underlying process S(x). Also, because of the difficulty of identifying all the parameters of this model empirically, we would usually either fix the value of κ according to the context of the application, or choose amongst a limited set of values of κ, for example κ = 0.5, 1.5, 2.5 as illustrated in Figure 3.2.

3.5 The nugget effect In geostatistical practice, the term “nugget effect” refers to a discontinuity at the origin in the variogram. Within our model-based framework, its literal interpretation is as the measurement error variance, τ 2 , or equivalently the conditional variance of each measured value Yi given the underlying signal value S(xi ). Formally, this amounts to modelling the measurement process, Y (x) say, as a Gaussian process whose correlation function is discontinuous at the origin, hence 1 : x = x Corr{Y (x), Y (x )} = 2 2 2 σ ρ(||x − x ||)/(σ + τ ) : x = x

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where ρ(·) is the (continuous) correlation function of S(x) and || · || denotes distance. In practice, when the sampling design specifies a single measurement at each of n distinct locations, the nugget effect has a dual interpretation as either measurement error or spatial variation on a scale smaller than the smallest distance between any two points in the sample design, or any combination of these two effects. These two components of the nugget effect can only be separately identified if the measurement error variance is either known, or can be estimated directly using repeated measurements taken at coincident locations.

3.6 Spatial trends The simplest form of departure from stationarity is to allow the mean response, μ(x), to depend on location. We call any such varying mean a spatial trend. In applications, we may choose to model μ(x) directly as a function of x. In practice, this is most often done through a polynomial regression model, using powers and cross products of the Cartesian coordinates of x as explanatory variables. Models of this kind are called trend surface models. They rarely have any scientific foundation. Our view is that linear or quadratic trend surfaces can provide useful empirical descriptions of simple, unexplained spatial trends, but that higher-degree surfaces should be avoided because complicated trends are better described through the stochastic component of the model. See, for example, our illustrative analysis of the surface elevation data reported in Chapter 2. A more interesting kind of spatial trend arises when the mean function can be modelled using spatially referenced covariates, hence for example μ(x) = α + d(x)β where d(x) is a scientifically relevant property of the location x. In our opinion, models of this kind are more interesting than trend surface models because they seek to explain, rather than merely to describe, the spatial variation in the response variable. For example, in the Gambia malaria data of Example 1.3 modelling the spatial variation in prevalence as a function of greenness has a natural scientific interpretation because the greenness index is a surrogate measure of the suitability of each location for mosquitos to breed. If, hypothetically, greenness showed a smooth east-west trend, then modelling malaria prevalence as a function of greenness or as a function of longitude might give equally good empirical fits to the data, but modelling prevalence as a function of greenness would offer the more satisfying explanation and would be the more likely to translate to other study regions. As discussed in Section 1.2.2, when values of a potential explanatory variable d(x) are only recorded at the same locations as give rise to the basic geostatistical data (xi , yi ), we need to consider whether we should treat d(x) as a second, stochastic variable to be analysed jointly with the primary signal process, S(x), rather than as a deterministic quantity.

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Figure 3.9. Rotation of the data configuration by the anisotropy parameters. The left-hand panel shows the original locations, the right-hand panel the transformed locations in isotropic space when ψA = 2π/3 and ψR = 2.

3.7 Directional effects Another form of non-stationarity is non-stationarity in the covariance structure. One specific way to relax the stationarity assumption is to allow directional effects so that, for example, the rate at which the correlation decays with increasing distance is allowed to depend also on the relative orientation between pairs of locations. The simplest form of directional effect on the covariance structure is called geometrical anisotropy. This arises when a stationary covariance structure is transformed by a differential stretching and rotation of the coordinate axes. Hence, geometrical anisotropy is defined by two additional parameters. Algebraically, a model with geometrical anisotropy in spatial coordinates x = (x1 , x2 ) can be converted to a stationary model in coordinates x = (x1 , x2 ) by the transformation

1 0 cos(ψA ) − sin(ψA ) (3.10) (x1 , x2 ) = (x1 , x2 ) −1 sin(ψA ) cos(ψA ) 0 ψR where ψA is called the anisotropy angle and ψR > 1 is called the anisotropy ratio. The direction along which the correlation decays most slowly with increasing distance is called the principal axis. These operations are illustrated in Figure 3.9. The original locations are shown in the left-hand panel. Suppose that the anisotropy angle is ψA = 2π/3, and the anisotropy ratio is ψR = 2. Then, applying the coordinate transformation (3.10) we obtain the locations in the right-hand panel, which are now in an isotropic space, and proceed to fit an isotropic model in this transformed space. In practice, ψA and ψR are unknown, and the model fit would be optimised by treating ψA and ψR as additional parameters to be estimated.

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Figure 3.10. A realisation of a geometrically anisotropic Gaussian spatial process whose principal axis runs diagonally across the square region with anisotropy parameters (π/3, 4) for the left-hand panel and (3π/4, 2) for the right-hand panel.

Figure 3.10 shows realisations of two Gaussian spatial process with geometrical anisotropy. The directional effects are visually clear, with the principal axis in each case running diagonally over the square region shown. For the left panel the anisotropy angle is π/3 radians and the anisotropy ratio is 4. For the right panel the anisotropy angle is 3π/4 radians and the anisotropy ratio is 2. The two processes have common parameter values μ = 0, σ 2 = 1 and exponential correlation function with φ = 0.25, and the two realisations were generated using the same random seed. Note that geometric anisotropy cannot describe local directional features of a spatial surface, only global ones. On the other hand, the presence of local directional features in a realisation of a spatial process need not imply that the underlying process is anisotropic. Consider, for example, a surface constructed as the superposition of profiles f (·) translated by the points of a homogeneous Poisson point process. Thus, S(x) =

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Geometrical anisotropy deals with a particular form of non-stationarity by transforming the space x using stretching and rotation, so that the underlying process is stationary in the transformed space. Sampson and Guttorp (1992), Guttorp, Meiring and Sampson (1994) and Guttorp and Sampson (1994) develop a more general version of this approach. Their method seeks a smooth deformation of the x-space, equivalent to a transformation from x to x∗ say, so that the covariance function depends only on distance in the deformed space, hence for any two locations x and y in the original space, Cov{S(x), S(y)} = γ(||x∗ − y ∗ ||). Perrin and Meiring (1999) discuss identifiability issues for this class of models, whilst Schmidt and O’Hagan (2003) develop a Bayesian version. Replicated observations are needed at each sampling location in order to identify the required transformation. In practice, the approach is feasible when a time series is collected at each location as this gives the necessary, albeit dependent, replication. Non-stationarity can also arise because Euclidean distance is not an appropriate measure of spatial separation. For example, Rathbun (1998) considers non-Euclidean distances in modelling spatial variation in an estuary where, amongst other considerations, the line segment joining two locations within the estuary may cross a stretch of land.

3.8 Transformed Gaussian models We now expand the discussion of Section 2.2, where we mentioned briefly that the range of applicability of the Gaussian model can be extended by assuming that the model holds after a marginal transformation of the response variable. As in other areas of statistics, there are at least three different reasons for using a transformation of the data. Firstly, a particular transformation might be suggested by qualitative arguments, or even by convention. For example, if

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effects are thought to be operating multiplicatively, then a log-transformation converts the problem to a scale on which effects are, more conveniently, additive. Secondly, a transformation may be used as a variance-stabilising device for a known, non-Gaussian sampling distribution. For example, square root and arc-sine transformations approximately stabilise the sampling variance under Poisson and binomial sampling, respectively. Note, however, that there is no reason why a transformation which stabilises the variability in the measurements conditional on the signal should also stabilise the variability in the signal, or vice versa. The transformation approach to variance instability used to be widespread in regression modelling of non-Gaussian data, but has largely been replaced by the use of generalized linear models (McCullagh and Nelder, 1989). Section 1.4 and, in more detail, Chapter 4 describe an extension of classical generalized linear models to accommodate non-Gaussian geostatistical data. Finally, we can introduce a parametric family of transformations simply as an empirical generalisation of the Gaussian model, in which case the choice of a particular transformation corresponds to the estimation of an additional parameter. The most widely used example of this approach is the Box-Cox family of transformations (Box and Cox, 1964), (Y λ − 1)/λ : λ = 0 Y∗ = (3.12) log Y : λ = 0. The log-transformation is perhaps the most widely used in practice, and explicit expressions can be derived for its mean and covariance structure. Suppose that T (x) = exp{S(x)}, where S(x) is a stationary Gaussian process with mean μ, variance σ 2 and correlation function ρ(u). The moment generating function of S(x) is 1 M (a) = E[exp{aS(x)}] = exp{aμ + a2 σ 2 }. 2 It follows from (3.13), setting a = 1, that T (x) has expectation 1 μT = exp μ + σ 2 . 2

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Similarly, setting a = 2 in (3.13) gives E[T (x)2 ], and hence the variance of T (x) as σT2 = exp(2μ + σ 2 ){exp(σ 2 ) − 1}.

(3.15)

Finally, for any two locations x and x , T (x)T (x ) = exp{S(x) + S(x )}, and S(x) + S(x ) is Gaussian with mean m = 2μ and variance v = 2σ 2 {1 + ρ(||x − x ||)}. It follows that E[T (x)T (x )] = exp(m+v/2), and straightforward algebra gives the correlation function of T (x) as ρT (u) = [exp{σ 2 ρ(u)} − 1]/[exp{σ 2 } − 1].

(3.16) 2

Note that the mean and variance of T (x) depend on both μ and σ , whereas the correlation function of T (x) does not depend on μ. Log-Gaussian processes exhibit, to a greater or lesser extent depending on the values of the model parameters, asymmetric behaviour with local patches

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of values close to zero, interspersed with relatively sharp peaks. In particular, we can write any Gaussian process S(x) as μ + σZ(x), and the corresponding log-Gaussian process as T (x) = αT0 (x)σ , where α = exp(μ) and T0 (x) = exp{Z(x)}. Hence, for any given Z(x), the value of μ affects the scale of the surface T (x), whilst σ affects its shape, with larger values of σ producing sharper peaks and flatter troughs The two panels of Figure 3.12 illustrate this affect. They show realisations of two log-Gaussian processes of the form T (x) = exp{σZ(x)}, where Z(x) is a Gaussian process with zero mean, unit variance and Matérn correlation of order κ = 1.5 and with range parameter φ = 0.2. Both panels use the same realisation of Z(x) and differ only in that the left-hand panel has σ = 0.1 and the right-hand panel σ = 0.7. The two panels of Figure 3.13 compare a realisation of a log-Gaussian process and a Gaussian process with the same mean and variance, and closely matched correlation structure. The log-Gaussian process used for the left-hand panel of Figure 3.13 has its correlation structure ρT (u) induced by an underlying Matérn correlation function ρ0 (u) with parameters κ = 1.5 and φ = 0.2, and variance σ 2 = 1. We then used a simple least squares criterion to obtain a Matérn correlation function, ρA (u) say, which approximated ρT (u) as closely as possible, resulting in the parameter values φa = 0.18 and κa = 1.32. To obtain the right-hand panel of Figure 3.13 we then simulated a Gaussian process using the correlation function ρA (u) in conjunction with a mean and variance chosen so as to match those of the log-Gaussian process. As usual, we used the same random number seed for the two realisations being compared. Figure 3.14 compares the correlation functions ρT (u), ρA (u) and ρ0 (u). We see that the correlation functions of the processes used to generate the two realisations shown in Figure 3.13 are almost identical, yet the realisations themselves are very different in character because of their different distributional properties.

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3.9 Intrinsic models In Section 3.6 we discussed a simple form of non-stationary model, namely the sum of a deterministic spatial trend and a stochastic, spatially correlated residual. Similarly, in Section 3.7 we discussed a deterministic strategy for dealing with non-stationarity, in this case a transformation of the spatial coordinate system to deal with a global directional effect in the underlying process. An alternative strategy is to treat non-stationarity as an inherently stochastic phenomenon.


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As a simple, spatially discrete one-dimensional example of an intrinsic model we consider a random walk, S(x), defined recursively by S(x) = S(x − 1) + Z(x) : x = 0, 1, . . .

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where the Z(x) are mutually independent, normally distributed with mean 0 and variance 1. Conventionally, we add the initial condition that S(0) = 0, in which case E[S(x)] = 0 for all x and Var{S(x)} = x. However, an alternative interpretation, which is perhaps more natural in the spatial setting where any ordering along the coordinate axes is arbitrary, is that S(x) fluctuates randomly about an arbitrary level i.e., the average is indeterminate and the variation observed within a finite segment of space increases with the length of the segment. Figure 3.15 shows a simulated realisation of such a process. The process was initialised at zero, allowed to run for 5000 steps, then observed and plotted for an additional 1000 steps. By chance, the plotted values of S(x) vary over the approximate range −60 to −10 although their theoretical expectation over repeated realisations is zero. More interestingly, the initial and final portions of Figure 3.15 appear on casual inspection to be approximately stationary whereas, the portion between x = 300 and x = 450 suggests a decreasing, approximately linear trend. One lesson which we take from this example is that when our data consist of a single realisation of a correlated stochastic process, it is often the case that qualitatively wrong models can give a reasonable empirical fit to the data. The random walk model (3.17) is an example of a general class of nonstationary stochastic processes known as intrinsic random functions (Matheron, 1973). An intrinsic random function is a stochastic process S(x) with stationary increments. This means that for any u ∈ IR2 , the process Du (x) defined by Du (x) = S(x) − S(x − u)

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is stationary. Suppose that Var(Du ) = σu2 . Then, 12 σu2 , regarded as a function of u, is also the variogram of S(x). Hence, intrinsic random functions can be thought of as processes for which the variogram, but not necessarily the covariance function, depends only on u. For the random walk process (3.17), the variogram is V (u) = 12 Var{S(x) − S(x − u)} = 12 u, for u ≥ 0, whereas the covariance function is γ(x, u) = Cov{S(x), S(x − u)} = |x − u|, which depends on both u and x. Examples of legitimate intrinsic variogram models include power law and logarithmic forms. The power law model, V (u) = (u/φ)κ is valid for 0 < κ < 2. The most widely used special case is the linear variogram, V (u) = u/φ. The logarithmic model, V (u) = log(u/φ),

(3.18)

occupies a special place in classical geostatistics because of its connection to an empirical law discovered by De Wijs (1951, 1953). De Wijs observed that when a sample of ore was broken into smaller pieces, the variability between the grades of the pieces in relation to the average grade of the original sample appeared to depend only on the ratio of the volume of the pieces to the volume of the original, and not on the absolute volume of the original. Viewed as a model for a variogram, (3.18) has the unattractive property that V (u) → −∞ as u → 0 which is incompatible with the definition of the variogram as a variance. However, suppose that (3.18) holds for an unobserved process S ∗ (x), and that we observe (3.19) S(x) = w(r)S ∗ (x − r)dr, where w(u) is a non-negative valued weighting function. As discussed in Section 1.2.1 this corresponds to each observed measurement having a finite support deriving from a finite spatial neighbourhood centred on the point x. Now, as in the derivation of (3.5), write W (t) = w(r)w(t − r)dr. Combining (3.18) and (3.5) then gives the variogram of the regularised process as V (u) = W (t)[log{(t + u)/φ} − log(t/φ)]dt = W (t){log(t + u) − log(t)}dt, (3.20) which is non-negative valued for all u ≥ 0 and does not depend on φ. This rather surprising result is the theoretical analogue of De Wijs’s empirical law. Besag and Mondal (2005) establish a close theoretical link between the De Wijs process and intrinsic autoregressive processes on a two-dimensional lattice and show that, by making the lattice spacing sufficiently fine, the spatially discrete autoregressive process can give an excellent approximation to the spatially continuous De Wijs process. The lattice formulation also brings substantial computational benefits for large data-sets.

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Intrinsic random functions embrace a wider class of models than do stationary random functions. With regard to spatial prediction, the main difference between predictions obtained from intrinsic and from stationary models is that if intrinsic models are used, the prediction at a point x is influenced by the local behaviour of the data i.e., by the observed measurements at locations relatively close to x, whereas predictions from stationary models are also affected by global behaviour. One way to understand this is to remember that the mean of an intrinsic process is indeterminate. As a consequence, predictions derived from an assumed intrinsic model tend to fluctuate around a local average. In contrast, predictions derived from an assumed stationary model tend to revert to the global mean of the assumed model in areas where the data are sparse. Which of these two types of behaviour is the more natural depends on the scientific context in which the models are being used.

3.10 Unconditional and conditional simulation Simulation plays an important role in geostatistical practice, both in conducting Monte Carlo experiments to gain insight into the properties of particular models and associated statistical methods, and as a fundamental tool in conducting geostatistical inference when the required analytical results are intractable. The most basic simulation problem is to simulate a realisation, say Y = (Y1 , . . . , Yn ), of a Gaussian model at a set of n locations xi ∈ IR2 . Note firstly that if the model for Y includes a nugget effect, with nugget variance τ 2 , we can represent Y as Y = μ + S + τ T where μ = E[Y ], T = (T1 , .., Tn ) is a set of mutually independent N(0, 1) random variables, and the spatial signal S = (S1 , . . . , Sn ) follows a zero-mean multivariate Gaussian distribution, namely S ∼ MVN(0, Σ). The standard method for simulating a realisation of S is to simulate an independent random sample Z = (Z1 , . . . , Zn ) from the standard Gaussian distribution, N(0, 1), and apply a linear transformation, S = AZ,

(3.21)

where A is any matrix such that AA = Σ. Two ways to construct A are through Cholesky factorisation and singular value decomposition. The Cholesky factorisation of Σ is Σ = LL , where L is a lower-triangular matrix. Hence in (3.21) we take A = L. Because A is lower triangular, this method of simulating S can be interpreted as first simulating S1 from its marginal, univariate Gaussian distribution, then successively simulating S2 , . . . , Sn from the conditional distributions of each Si given S1 , . . . , Si−1 , each of which is again univariate Gaussian. The singular value decomposition of Σ is Σ = U ΛU , where Λ is a diagonal matrix whose diagonal elements λ = (λ1 , . . . , λn ) are the eigenvalues of Σ, ordered from largest to smallest, whilst the columns of U contain the corresponding eigenvectors, hence U U = I. Because Σ is positive definite, all of the

3.10. Unconditional and conditional simulation

67 1

λi are positive. Hence, a second possible choice for A in (3.21) is A = U Λ 2 , √ 1 where Λ 2 is the diagonal matrix with diagonal elements λi . Simulating realisations of the stationary Gaussian model by either of these methods becomes difficult in practice when n is very large, because of the computational burden associated with the necessary matrix operations. Typically, to simulate a realisation of a process S(·) over a spatial region, A say, we would approximate the spatially continuous surface S(x) by its values on a fine grid to cover the region of interest. For this situation, Wood and Chan (1994) provide an ingenious algorithm which uses circulant embedding in conjunction with fast Fourier transform methods to achieve very substantial reductions in both computing time and storage requirements when the number of grid points is large; for example, simulation on a grid of size 256 by 256 becomes computationally straightforward. A completely different approach is to use a Markov chain Monte Carlo method known as Gibbs sampling (Gilks et al., 1996). Define the full conditional distributions of S = (S1 , . . . , Sn ) as the n univariate Gaussian distributions of each Si given all other Sj . Choose any initial set of values for S, say S0 = (S01 , . . . , S0n ). Now, simulate a new set of values, S1 = (S11 , . . . , S1n ) successively from the full conditionals of each Si given the new values S1j : j = 1, . . . , i − 1 and the old values S0j : j = i + 1, . . . , n, with the obvious interpretations for i = 1 and i = n. This defines a single sweep of the Gibbs sampler. Re-set S0 to be the newly simulated S1 and repeat. If we iterate this process over many sweeps, the distribution of the resulting sequence of simulations S1 converges to the required multivariate Gaussian. For the models considered in this chapter, the Gibbs sampler is generally not a sensible option because the evaluation of each full conditional distribution requires the inversion of an (n − 1) × (n − 1) covariance matrix. However, the method becomes very attractive if we define our models by the form of their full conditionals, especially so if the full conditionals are sparse i.e., the full conditional of each Si depends only on a small number of Sj , called the neighbours of Si . Models of this kind are known as Gaussian Markov random fields and are discussed in Rue and Held (2005). For general geostatistical applications, Markov random field models have the unattractive feature that they are tied to a specified set of locations rather than being defined in a spatially continuous way. Hence, they cannot be used directly to make spatially continuous predictions. However, Rue and Tjelmeland (2002) have shown how a spatially continuous Gaussian process can be approximated by a Gaussian Markov random field on a fine grid. Hence, a feasible strategy is to define a spatially continuous model but use its approximating Markov random field for computation. In the geostatistical literature, simulating a realisation of a spatial process S(x) on a set of locations xi : i = 1, . . . , n is called unconditional simulation, to distinguish it from conditional simulation. The latter refers to simulation of a spatial process S(x) at locations x∗i : i = 1, . . . , N , conditional on observed values S(xi ) at locations xi : i = 1, . . . , n or, more generally, conditional on data Y = (Y1 , . . . , Yn ) which are stochastically related to S(·). In the present context, the underlying model for Y is that Yi = S(xi ) + Zi , where the Zi are mutually

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independent and normally distributed, Zi ∼ N(0, τ 2 ). Conditional simulation is used informally to investigate to what extent the observed data do or do not identify the essential features of the underlying spatially continuous surface S(x). It is also an essential tool in formal geostatistical inference, and as such will arise naturally in later chapters. Here, we note only that for the Gaussian model, the conditional distribution of the values of the process S(x) at any set of locations, say S ∗ = {S(x∗i ), .., S(x∗N )}, given the data Y , is multivariate Gaussian with a variance matrix which does not depend on Y . Hence, both unconditional and conditional simulation require computationally feasible ways of simulating from high-dimensional multivariate Gaussian distributions with particular kinds of structured covariance matrices.

3.11 Low-rank models A low-rank model (Hastie, 1996) for a random vector S is one whose distributional dimension is less than the dimension of S itself. To motivate this idea in the context of geostatistical modelling, we briefly re-visit the singular value decomposition method for simulating realisations of S when the underlying model is a Gaussian process. Recall that the singular value decomposition method simulates S as S = AZ where Z is a vector of mutually independent N(0, 1) random variables and 1 A = U Λ 2 . Here, the diagonal matrix Λ contains the eigenvalues of the required covariance matrix of S, whilst U contains the corresponding eigenvectors. If the eigenvalues are ordered from largest to smallest, then we could obtain an approximate simulation of S by using only the first m < n columns of A to give S = Am Z

(3.22)

where now Z consists of only m independent N(0, 1) variates (see Exercise 3.4). The resulting S has a singular multivariate Gaussian distribution, which can be regarded as a low-rank approximation to the target, non-singular distribution. Because A is derived from the covariance matrix of S = {S(x1 , . . . , S(xn )} its elements are, implicitly, functions of the sampling locations xi and we could therefore think of (3.22) as a specification of the form S(xi ) =

m

Zj fj (xi ) : i = 1, . . . , n.

(3.23)

j=1

This suggests that, rather than considering the low-rank approximation only as a computational short-cut, we could also use it as a way of defining a model for S(·). The general idea is to represent a spatially continuous stochastic process S(x) as a linear combination of functions fj (x) and random coefficients Aj , so that for any x ∈ IR2 , S(x) =

m j=1

Aj fj (x).

(3.24)

3.12. Multivariate models

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If the Aj follow a zero-mean multivariate Gaussian distribution with Cov(Aj , Ak ) = γjk , then S(·) is a zero-mean Gaussian process with covariance structure given by Cov{S(x), S(x )} =

m m

γjk fj (x)fk (x ).

(3.25)

j=1 k=1

In general, the covariance structure (3.25) is non-stationary. Whether or not it has an intuitively appealing form depends on the choices made for the functions fj (·) and for the covariances amongst the Aj . The fk (·) would usually be chosen to form an orthonormal basis, meaning that fj (x)fk (x)dx = 1 if k = j and is zero otherwise. Typically, the coefficients Aj would then be specified as mutually independent. A familiar example of (3.24) in one dimension is the spectral representation of a time-series as a superposition of sine and cosine waves with mutually independent random coefficients. For an exact representation of a time-series S(x) : x = 1, .., n we define n functions fk (x) which correspond to n/2 sine-cosine pairs at frequencies 2πjx/n : j = 0, 1, . . . , [n/2]. The associated coefficients are then assigned large or small variances corresponding to frequencies which account for large or small proportions, respectively, of the overall variation in the series. A low-rank approximation is obtained by setting some of the coefficients to zero. Spectral representations can also be used in two spatial dimensions and are discussed for example in Stein (1999). Low-rank models for spatial processes can also be constructed using splines. Splines (Wahba, 1990) are piece-wise polynomial functions. By choosing the pieces to be cubics, constrained to be continuously differentiable at the joins, or “knots” connecting successive pieces, we obtain a very flexible method for approximating any smooth function. In two spatial dimensions, the same idea can be used to construct a flexible class of smooth surfaces by joining together locally polynomial pieces, known as thin-plate splines (Duchon, 1977). Thin-plate spline models are discussed in Wood (2003). Kammann and Wand (2003) emphasise the connection between splines and linear random effect models which is hinted at in (3.24) above. Laslett (1994) compares predictions obtained from spline models and from more conventional geostatistical models of the kind discussed earlier in this chapter. Ruppert, Wand and Carroll (2003) discuss the use of low-rank splines in semiparametric regression modelling.

3.12 Multivariate models Multivariate geostatistical models are relevant when two or more different response variables are measured at spatial locations within a continuous spatial region. As discussed in Section 1.2.2 this situation can arise either because the variables are all of equal scientific interest and we wish to describe their joint

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spatial distribution, or because we wish to describe the conditional distribution of a response variable of primary interest given one or more spatially referenced covariates. When a covariate is only available at a finite set of sample locations we may choose to treat it as a set of sampled values from an underlying stochastic process. A third situation in which multivariate methods are useful is when the variable of primary interest, Y say, is difficult or expensive to measure, but it is easy to measure a second variable, Z, which is known to be correlated with Y . In this situation, for efficient prediction of Y the most cost-effective design may be one in which a small number of measurements of Y are combined with a large number of cheaper measurements of Z. In the remainder of this section we describe some possible multivariate extensions to the univariate Gaussian models considered so far in this chapter. All of the general ideas discussed for univariate processes carry over, but with additional aspects introduced by the multivariate setting. We focus on the specification of valid models for stationary variation about a trend, including the distinction between the observation process Y (x) and an unobserved signal process S(x).

3.12.1 Cross-covariance, cross-correlation and cross-variogram The covariance and correlation functions of a multivariate spatial process are easily defined as follows. A d-dimensional spatial process is a collection of random variables Y (x) = {Y1 (x), . . . , Yd (x)}, where x ∈ IR2 . Then, the covariance function of Y (x) is a d×d matrix-valued function Γ(x, x ), whose (j, k)th element is γjk (x, x ) = Cov{Yj (x), Yk (x )}.

(3.26)

For each pair of locations (x, x ), the matrix Γ(x, x ) is symmetric i.e., γjk (x, x ) = γkj (x, x ). When Y (x) is stationary, γjj (x, x) = Var{Yj (x)} = σj2 does not depend on x, and for j = k, γjk (x, x ) depends only on u = ||x − x ||. We then define the correlation function of Y (x) as the matrix-valued function R(u) whose (j, k)th element is ρjk (u) = γjk (u)/(σj σk ). When k = j, the functions ρjj (u) are the correlation functions of the univariate processes Yj (x) and are symmetric in u i.e., ρjj (−u) = ρjj (u). When k = j, the functions ρjk (u), called the crosscorrelation functions of Y (x), are not necessarily symmetric but must satisfy the condition that ρjk (u) = ρkj (−u). To define a cross-variogram for Y (x), there are at least two possibilities. The first, and the more traditional, is ∗ Vjk (u) =

1 Cov[{Yj (x) − Yj (x − u)}{Yk (x) − Yk (x − u)}]. 2

(3.27)


71

See, for example, Journel and Huijbregts (1978) or Chilès and Delfiner (1999). Expanding the right-hand side of (3.27) we find that 1 γjk (0) − {γjk (u) + γjk (−u)} 2 1 (3.28) = σj σk [1 − {ρjk (u) + ρjk (−u)}]. 2 The similarity between (3.28) and the corresponding relationship between univariate covariance, correlation and variogram functions, as discussed in Section 3.4, is clear. The second possibility, introduced by Cressie and Wikle (1998) and called by them the variance-based cross-variogram, is ∗ Vjk (u) =

1 Var{Yj (x) − Yk (x − u)}. 2 Expanding the right-hand side of (3.29) gives Vjk (u) =

(3.29)

1 2 (σ + σk2 ) − σj σk ρjk (u). (3.30) 2 j The expansion (3.30) highlights an apparent objection to (3.29), namely that it mixes incompatible physical dimensions. However, we can overcome this by working with standardised, and therefore dimensionless, variables. An advantage of (3.29) over (3.27) is that it suggests a way of estimating the variogram empirically which does not require the different variables to be measured at a common set of sampling locations. Using standardised variables reduces the two definitions of the crossvariogram in (3.30) and (3.28) to Vjk (u) =

1 ∗ Vjk (u) = 1 − {ρjk (u) + ρjk (−u)} 2 and Vjk (u) = 1 − ρjk (u), respectively, hence 1 {Vjk (u) + Vjk (−u)}. 2 ∗ In particular, provided that we use standardised variables, we see that Vjk (u) = Vjk (u) whenever the cross-correlation function ρjk (u) is symmetric in u. ∗ Vjk (u) =

3.12.2 Bivariate signal and noise To construct a stationary Gaussian model for bivariate data (Yij : i = 1, ..., nj , j = 1, 2) measured at locations xij we first specify a model for an unobserved bivariate stationary Gaussian process {S(x) = (S1 (x), S2 (x)) : x ∈ IR2 }, with bivariate mean zero, variances σj2 = Var{Sj (x)} and correlation structure determined by three functions ρ11 (u) = Corr{S1 (x), S1 (x − u)}, ρ22 (u) = Corr{S2 (x), S2 (x − u)} and ρ12 (u) = Corr{S1 (x), S2 (x − u)}.

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The simplest assumption we can make about the data Yij is that Yij = Sj (xij ) i.e., the signal at any location x can be observed without error. When the data are subject to measurement error, the simplest assumption is that the Yij are mutually independent given S(·) and normally distributed, Yij ∼ N{μj (xij ) + Sj (xij ), τj2 } : i = 1, . . . , nj ; j = 1, 2.

(3.31)

Under this model, each dimension of the response separately follows a univariate Gaussian model, whilst dependence between the two response dimensions is modelled indirectly through the structure of the unobserved process S(·). The conditional independence assumption in (3.31) invites the interpretation that the parameters τj2 represent the measurement error variances in each of the two response dimensions. A less restrictive assumption than (3.31) would be to allow the measurement errors associated with Y (x) = {Y1 (x), Y2 (x)} to be correlated. This would only affect the model at locations where both of Y1 (x) and Y2 (x) are measured; where only one of the Yj (x) is measured, (3.31) would still hold. Correlated measurement errors might be particularly appropriate if, as already discussed in the univariate setting, we want the nugget effect to include spatial variation on scales smaller than the smallest inter-point distance in the sampling design. In the case of spatially independent error terms, the mean and covariance structure of the data, Yij , are given by E[Yij ] = μj (xij ), Var{Yij } = τj2 + σj2 and, for (i, j) = (i , j ), Cov{Yij , Yi j } = σj σj ρjj (||xij − xi j ||). Note in particular that non-zero error variances τj2 induce discontinuities at the origin in the covariance structure of the measurement process.

3.12.3 Some simple constructions In order to construct particular bivariate models, we need to specify explicit forms for the two mean functions μj (x) and for the covariance structure of S(·). With regard to the means, in practice the easiest models to handle are those in which the means are linear functions of spatial explanatory variables, as was also true in the univariate case. With regard to the covariance structure, the univariate models discussed earlier are a natural starting point. However, in extending these to the bivariate case, we need to be sure that the required positive definiteness conditions are not violated. Note that these require that arbitrary linear combinations of either or both of the response dimensions should have non-negative variances. A simple way to ensure that this is the case is to build a bivariate model explicitly from univariate components. The same holds, with the obvious modifications, for multivariate processes of dimension d > 2. A common-component model


73

One example of an explicit bivariate construction is the following. Suppose that S0∗ (·), S1∗ (·) and S2∗ (·) are independent univariate stationary Gaussian processes with respective covariance functions γj (u) : j = 0, 1, 2. Define a bivariate process S(·) = {S1 (·), S2 (·)} to have components Sj (x) = S0∗ (x) + Sj∗ (x) : j = 1, 2. Then, by construction, S(·) is a valid bivariate process with covariance structure Cov{Sj (x), Sj (x − u)} = γ0 (u) + I(j = j )γj (u) where I(·) is the indicator function, equal to one if its logical argument is true, zero otherwise. Note that if, as is typically the case, the covariance functions γj (u) are non-negative valued, then this construction can only generate nonnegative cross-covariances between S1 (·) and S2 (·). In practice this is often the case or, if the two variables are inversely related, can be made so by reversing the sign of one of the components. The common-component construction extends to processes of dimension d > 2 in which all of the components Sj (x) share an underlying common component S0∗ (x). Note, however, that the simple device of applying a change of sign to S0 (x) obviously cannot induce an arbitrary mix of positive and negative cross-covariances. Also, as written the construction implicitly assumes a common measurement scale for all of the component processes. When this is not the case, the model requires an additional d − 1 scaling parameters so that the common component S0∗ (x) is replaced by ∗ S0j (x) = σ0j R(x) where R(x) has unit variance. Linear combinations of independent components Another simple construction is to begin with two, or more generally d, independent univariate processes Uk (x) and define Sj (x) as a linear combination, Sj (x) =

d

akj Uj (x),

j=1

or in vector-matrix notation, S(x) = AU (x).

(3.32)

Without loss of generality, we can assume that each process Uk (x) has unit variance. If Uk (x) has correlation function ρk (·), it follows that the matrixvalued covariance function of S(x) is Γ(x, x ) = ARA ,

(3.33)

where R is the diagonal matrix with diagonal entries Rkk = ρk (x − x ). In the special case where ρk (u) = ρ(u), (3.33) reduces to Γ(x, x ) = Bρ(x − x ). This is sometimes called the proportional covariance model (Chilès and Delfiner, 1999). The assumption that all of the Uk (x) share a common correlation function reduces the number of parameters in the model to manageable proportions, but otherwise does not seem particularly natural.

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Schmidt and Gelfand (2003) use a variant of (3.32) in which there is a natural ordering of the components of S(x) so that S1 (x) depends on U1 (x) only, S2 (x) depends on U1 (x) and U2 (x), and so on. Gelfand, Schmidt, Banerjee and Sirmans (2004) extend this model to allow the non-zero elements of the Ai to depend on location, x. The linear model of co-regionalisation By construction, we can also obtain valid models by adding linear combinations of p ≥ 2 models with independent components. Hence, we can define a model for a d-dimensional process S(x) as S(x) =

p

Ai U i (x),

(3.34)

i=1

where now each U i (x) = {U1i (x), . . . , Udi (x)} is a set of d independent univariate processes and Ai is a d × d matrix. In practice, models of this kind would be very poorly identified without some restrictions being placed beforehand on the processes Uki (x). In the linear model of co-regionalisation, these restrictions are that each term on the right-hand side of (3.34) is a proportional covariance model. This again raised the question of whether the resulting savings in the number of unknown parameters has a natural scientific interpretation or is merely a pragmatic device. How useful are standard classes of multivariate model? The question is worth asking because, as the examples above illustrate, even very simple multivariate constructions quickly lead to models with either large numbers of parameters and consequent problems of poor identifiability, or potentially severe restrictions on the allowable form of cross-correlation structure. A better modelling strategy than an empirical search through a richly parameterised standard model class may be to build multivariate models by incorporating structural assumptions suggested by the context of each specific application; see, for example, Knorr-Held and Best (2001), who use the common component model in an epidemiological setting where it has a natural interpretation.

3.13 Computation We first show how to use geoR to compute and plot standard correlation functions. The function cov.spatial() has an argument cov.model which allows the user to choose from a set of correlation families. Options include the Matérn, powered exponential, spherical and wave families discussed earlier in this chapter; a complete list can be obtained by typing help(cov.spatial). Below, we show the commands used to produce Figure 3.2. Similar commands were used for Figure 3.5 and Figure 3.7.

3.13. Computation

> > + + > + > +

75

x > + > > + +

set.seed(159) image(grf(100^2, grid = "reg", cov.pars = c(1, 0.25)), col = gray(seq(1, 0, l = 51)), xlab = "", ylab = "") set.seed(159) image(grf(100^2, grid = "reg", cov.pars = c(1, 0.13), cov.model = "mat", kappa = 2.5), col = gray(seq(1, 0, l = 51)), xlab = "", ylab = "")

Using the R function set.seed() ensures that simulations are generated with the same random number seed, hence differences between the simulated realisations are due only to the different values of the model parameters. In the example above, the realisation covers n = 1002 = 10, 000 locations, whilst the argument grid="reg" instructs the function to generate the locations in a 100 by 100 regular square lattice. For the simulations of the anisotropic model in Figure 3.10 we used the argument aniso.pars to specify the anisotropy angle and ratio, as follows. > > + + > > + +

set.seed(421) image(grf(201^2, grid = "reg", cov.pars = c(1, 0.25), aniso.pars = c(pi/3, 4)), col = gray(seq(1, 0, l = 51)), xlab = "", ylab = "") set.seed(421) image(grf(201^2, grid = "reg", cov.pars = c(1, 0.25), aniso.pars = c(3 * pi/4, 2)), col = gray(seq(1, 0, l = 51)), xlab = "", ylab = "")

The function grf() allows the user to select from several algorithms for generating the simulated realisations, including an automatic link to the function GaussRF() within the R package RandomFields written by Martin Schlather. To invoke this link, the user specifies the optional argument method="RF" in


0

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Figure 3.16. Realisations of two stationary Gaussian processes on irregularly distributed sets of locations. See text for detailed specifications.

the call to the function grf(). At the time of writing, the default in the latest version of the geoR package is to use the Choleski factorisation for n ≤ 500, and the link to GaussRF() for n > 500. The RandomFields package is also available at the cran website, http://cran.r-project.org. Note also that H˚ avard Rue has written very efficient code, available for download at http://www.math.ntnu.no/∼hrue/GMRFLib, for simulation of Gaussian processes on very large numbers of locations using an approximating Markov random field, as described in Section 3.10. Rue and Held (2005) provide details on the methods and on the use of the software. Figure 3.16 shows two further examples of simulations generated by grf(), using the commands below. The first call to the function produces the simulation shown in the left-hand panel, a realisation of a stationary Gaussian model with mean μ = 0, variance σ 2 = 1 and Matérn correlation function with κ = 1.5 and φ = 0.15. The simulation generates 100 values at locations distributed completely at random over the unit square. The right panel shows simulated values at the 52 locations of the elevation data from Example 1.1. In this case, we have used a stationary Gaussian model with mean μ = 850, nugget variance τ 2 = 100, signal variance σ 2 = 3500 and Matérn correlation function with κ = 2.5 and φ = 0.8. > + > > > + > >

sim1 > + > > > >

set.seed(371) cp >

set.seed(34) locs > > > >

set.seed(23) s > > >

set.seed(2391) S plot(variog(elevation, trend = "2nd", max.dist = 6.5), + xlab = "u", ylab = "V(u)") By experimenting with different bin specifications for the sample variogram of a single data-set, the reader can gain useful insight into the extent to which the resulting variogram estimates are sensitive to this choice. To illustrate this we use the simulated data-set s100, which is included in geoR and is accessed by the following command. > data(s100) These data are simulated from a model with a constant mean equal to zero, unit signal variance, zero nugget variance and exponential correlation function with φ = 0.3. The commands below produce Figure 5.14 which shows sample variograms obtained with different binning options. > > > > > >

v1 round(v3$u, dig = 2) [1] 0.04 0.12 0.19 0.27 0.35 0.42 0.50 0.58 0.65 0.73 0.81 0.88 [13] 0.96 The three panels of Figure 5.14 show qualitatively similar patterns at small distances but clear quantitative differences which would be reflected in the results of any variogram-based parameter estimation method. Note that we have not attempted to impose common x and y axis scales on the three panels of Figure 5.14, although this could be done using additional, optional arguments to the variog() function. The soil data of Example 1.4 include two response variables, calcium and magnesium content, and two potential explanatory variables, area and altitude, which identify the sub-area (or soil type) and elevation, respectively, for each data location. An exploratory plot produced with plot(ca20, trend= area+altitude, low=T) suggests a possible quadratic trend. Here, we use the calcium content response to construct the four variograms shown in Figure 5.15. The upper-left panel shows a variogram calculated from the original data, whilst the upper-right panel uses residuals from a linear model adjusting for sub-region as a factor on three levels. The lower-left panel uses residuals adjusting for both sub-region and elevation. Finally, the lower-right panel adjusts for sub-region, elevation and a quadratic trend surface. The differences amongst the resulting variograms again illustrate the inter-play between the specification of a model for the mean response and the resulting estimated covariance structure. The results in this case indicate that by incorporating sub-region into a model for the calcium content we appear to achieve approximate stationarity of the residuals, because the corresponding variogram reaches a plateau. On the evidence of Figure 5.15 alone, it is less clear whether the trend surface is needed; if it is included in the model, its effect is to reduce the effective range of the spatial correlation. The code to produce Figure 5.15 is as follows. > > > > > + >

data(ca20) plot(variog(ca20, max.dist = 510)) plot(variog(ca20, trend = ~area, max.dist = 510)) plot(variog(ca20, trend = ~area + altitude, max.dist = 510)) t.all > + > + > + > > + > + > +

set.seed(83) sim1 lines.variomodel(seq(0, 1, l = 100), cov.pars = c(0.9, + 0.2), cov.model = "mat", kap = 1.5, nug = 0.2) In the second step, we use the function variofit() to implement a curvefitting method. The function takes as argument the sample variogram. Optional arguments allow the user to specify different types of weights for the leastsquares criterion, with n-weighted least squares as the default. The function calls a numerical minimisation algorithm and therefore also requires initial values for the parameters. Here, we use the ones previously fitted by eye. The correlation function of choice can also be specified, with the exponential model as the default. Also by default, the κ parameter for the Matérn or powered exponential family is held fixed and the estimation is restricted to the parameters σ 2 , τ 2 and φ. The following code illustrates the process.

131

0.0

0.2

semivariance 0.4 0.6 0.8

1.0

5.6. Computation

0.0

0.2

0.4 distance

0.6

0.8

Figure 5.17. Empirical variogram for the s100 data-set (circles) and a line indicating a model fitted by eye.

> wls wls variofit: model parameters estimated by WLS (weighted least squares): covariance model is: matern with fixed kappa = 1.5 parameter estimates: tausq sigmasq phi 0.3036 0.9000 0.2942 variofit: minimised weighted sum of squares = 23.6572 Estimation by the maximum likelihood method is implemented in the function likfit(). The sample variogram is strictly not required for the maximum likelihood method, but nevertheless provides a useful way to specify initial values for the numerical minimisation algorithm. The input to likfit() specifies the data object, the model choice and initial values. As with the variofit() function, the value of κ is held fixed by default, although it can also be estimated by setting the optional argument fix.kappa=FALSE. The nugget parameter is included in the estimation by default, but can be held fixed using the optional argument fix.nugget=TRUE. The argument method allows for maximum likelihood or restricted maximum likelihood. An example follows. > ml ml likfit: estimated model parameters: beta tausq sigmasq phi "0.8964" "0.0000" "0.7197" "0.0476"

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5. Classical parameter estimation

likfit: maximised log-likelihood = -85.26 > reml reml likfit: estimated model parameters: beta tausq sigmasq phi "0.8936" "0.0000" "0.7427" "0.0485" likfit: maximised log-likelihood = -83.81 As our final example we show the commands used to fit the five alternative models to the soil data example presented in Section 5.4.8. The covariates are included by using the argument trend in the call to likfit(). > > > + > + > + > +

data(ca20) m1 > > > +

gr A200 200)/length(y)) > hist(A200, main = "")

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6. Spatial prediction

> image(pred, val = 1 - pred$prob, col = gray(seq(0.9, 0.1, + l = 41)), x.leg = c(0, 350), y.leg = c(-60, -30)) Our second example in this section concerns the soil calcium data. We proceed in a similar manner as for the analysis of the Swiss rainfall data, using the commands given below. We first load the data, which are also included with geoR, and fit a model including the covariate area. > data(ca20) > fit > > > > > >

gr > + + > > >

KC c|Y ) where Y = (Y1 , ..., Yn ) denotes the observed measurements on the untransformed scale and: (a) h(u) = u (b) h(u) = √ log u (c) h(u) = u. 6.5. Simulate and display realisations of zero-mean, unit variance stationary Gaussian processes S(x) on a 40 by 40 grid of points in the unit square, experimenting with different values for the correlation parameters to give a range of“rough”and“smooth”surfaces. Note that for all of these processes, the expected proportion of the unit square for which S(x) > 0 should be one-half, although the actual proportion will vary between realisations.

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6. Spatial prediction

For each selected realisation, take as the data a random sample of size n from the 1600 grid-point values of S(x). (a) Obtain the predictive distribution of the proportion of the study area for which S(x) > 0, i.e. A(0) in the notation of Section 6.5.1, using plug-in predictions with: (i) true parameter values (ii) parameter values estimated by maximum likelihood. Compare the two predictive distributions obtained under (i) and (ii). (b) Investigate how the predictive distributions change as you increase the sample size, n. (c) Comment generally.

7 Bayesian inference

In Chapters 5 and 6 we discussed geostatistical inference from a classical or nonBayesian perspective, treating parameter estimation and prediction as separate problems. We did this for two reasons, one philosophical the other practical. Firstly, in the non-Bayesian setting, there is a fundamental distinction between a parameter and a prediction target. A parameter has a fixed, but unknown value which represents a property of the processes which generate the data, whereas a prediction target is the realised value of a random variable associated with those same processes. Secondly, estimation and prediction are usually operationally separate in geostatistical practice, meaning that we first formulate our model and estimate its parameters, then plug the estimated parameter values into theoretical prediction equations as if they were the true values. An obvious concern with this two-phase approach is that ignoring uncertainty in the parameter estimates may lead to optimistic assessments of predictive accuracy. It is possible to address this concern in various ways without being Bayesian, but in our view the Bayesian approach gives a more elegant solution, and it is the one which we have adopted in our own work.

7.1 The Bayesian paradigm: a unified treatment of estimation and prediction 7.1.1 Prediction using plug-in estimates In general, a geostatistical model is specified through two sub-models: a submodel for an unobserved spatial process {S(x) : x ∈ IR2 }, called the signal, and a sub-model for the data Y = (Y1 , . . . , Yn ) conditional on S(·). Using θ as a

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7. Bayesian inference

generic notation for all unknown parameters, a formal notation for the model specification is [Y, S|θ] = [S|θ][Y |S, θ],

(7.1)

where S denotes the whole of the signal process, {S(x) : x ∈ IR2 }. The square bracket notation, [·], means “the distribution of” the random variable or variables enclosed in the brackets, with a vertical bar as usual denoting conditioning. Whilst we find this notation helpful in emphasising the structure of a model, it will sometimes be more convenient to use the notation p(·) to denote probability or probability density, in which case we reserve π(·) to denote the Bayesian prior distribution of model parameters. The classical predictive distribution of S is the conditional distribution [S|Y, θ], which in principle is obtainable from the model specification by an application of Bayes’ Theorem. For any target for prediction, T , which is a deterministic functional of S the predictive distribution for T follows immediately in principle from that of S, although it may or may not be analytically tractable. In either event, to generate a realisation from the predictive distribution [T |Y, θ] we need only generate a realisation from the predictive distribution [S|Y, θ] and apply a deterministic calculation to convert from S to T . A plug-in predictive distribution consists simply of treating estimated parameter values as if they were the truth; hence, for any target T the plug-in ˆ predictive distribution is [T |Y, θ]. In the special case of the linear Gaussian model as defined in (5.12) and with a prediction target T = S(x) the plug-in predictive distribution is known explicitly. As demonstrated in Section 6.2.1, [T |Y, θ] is Gaussian with mean Tˆ = E[T |Y, θ] = μ(x) + r V (θ)−1 (Y − μ) and variance Var[T |Y, θ] = σ 2 (1 − r V (θ)−1 r), where μ(x) = d(x) β is the n-element vector with elements μ(xi ) : i = 1, ..., n, σ 2 V (θ) = Var(Y |θ) as given by (6.6) and r is the n-element vector of correlations with elements ri = Corr{S(x), Yi }. These formulae assume that S(x) has zero mean i.e., any non-zero mean is included in the specification of the regression model for μ(x). When the target depends on both S and the trend, μ(x), for example when we want to predict μ(x) + S(x) at an arbitrary location, we simply plug the appropriate point estimate μ ˆ (x) into the definition of T . Plug-in prediction often results in optimistic estimates of precision. Bayesian prediction remedies this.

7.1.2 Bayesian prediction The Bayesian approach to prediction makes no formal distinction between the unobserved signal process S and the model parameters θ. Both are unobserved random variables. Hence, the starting point is a hierarchically specified joint distribution for three random entities: the data, Y ; the signal, S; and the model

7.1. The Bayesian paradigm: a unified treatment of estimation and prediction

159

parameters, θ. The specification extends the two-level hierarchical form (7.1) to a three-level hierarchy, [Y, S, θ] = [θ][S|θ][Y |S, θ],

(7.2)

where now [θ] is the prior distribution for θ. In theory, the prior distribution should reflect the scientist’s prior opinions about the likely values of θ prior to collection and inspection of the data; in practice, as we discuss below, the prior is often chosen pragmatically. The Bayesian predictive distribution for S is defined as the conditional distribution [S|Y ]. This is again obtained from the model specification by an application of Bayes’ Theorem, but starting from (7.2) rather than (7.1). This leads to the result [S|Y ] = [S|Y, θ][θ|Y ]dθ, (7.3) showing that the Bayesian predictive distribution is a weighted average of plugin predictive distributions, in which the weights reflect our posterior uncertainty about the values of the model parameters θ. As with plug-in prediction, the predictive distribution for any target T which is a functional of S follows immediately, as the transformation from S to T is deterministic. In practice, we simulate samples from the predictive distribution of S, and from each such simulated sample we calculate a corresponding sampled value from the predictive distribution of T . Typically, but not universally, the Bayesian paradigm leads to more conservative predictions in the sense that the resulting predictive distribution [T |Y ] ˆ Note also is more dispersed than the plug-in predictive distribution [T |Y, θ]. that as the data become more abundant, then for any parameter θ which is identifiable from the data we expect the posterior distribution [θ|Y ] to become ˆ In other words, the progressively more concentrated around a single value θ. Bayesian predictive distribution for S, and therefore for any target T , converges to the plug-in. However, the rate of convergence is problem specific, depending on a complex inter-play involving the prior, the model and the sampling design. In our experience the difference between the two can be substantial, especially for non-linear targets T . Also, we re-emphasise our point of view that the complete solution to a predictive problem is a probability distribution, not a single value. In geostatistical applications where prediction is the scientific goal, point estimates of parameters may be acceptable, but point predictions are of limited value. In the special case of the linear Gaussian model with target T = S(x) and pragmatic prior assumptions, we can obtain explicit results for the Bayesian predictive distribution of T . As in Section 5.3, we first illustrate the general approach for the unrealistic case in which all model parameters other than the mean and variance are assumed known, then relax these assumptions to derive a prediction algorithm for the case of practical interest, in which all parameters are assumed unknown and are assigned a joint prior distribution.

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7.1.3 Obstacles to practical Bayesian prediction There are two major requirements which must be met before Bayesian inference can be used in practice. The first, and the more fundamental, is that the data analyst must be prepared to specify a prior distribution for θ. Often, this is done pragmatically. A guiding principle in applied work is that in the absence of clearly articulated prior knowledge priors should be diffuse, in which case their effects are swamped by the effect of the likelihood provided that the sample size is sufficiently large. However, in the geostatistical setting where data are often highly correlated, intuitive ideas of what constitutes a “large” sample may be misleading. Our experience has been that with data-sets of size several hundred, apparently diffuse priors can still have a noticeable influence on the inferences. It seems to be a general feature of geostatistical problems that the models are poorly identified, in the sense that widely different combinations of parameter values lead to very similar fits. This may not matter if parameter estimation is not of direct interest but is only a means towards the goal of prediction. Even so, it remains a lingering concern because the prior does potentially influence the predictive distribution which we report for any target. Another issue with regard to prior specification is whether priors for different parameters should be independent. In practice, independent priors are often assumed. However, this assumption is equally often questionable. Note in particular that the substantive meaning of an independent prior specification changes if the model is re-parameterised by anything other than a component-wise transformation. The second, computational requirement is evaluation of the integral which is required to convert a specified model and prior into a posterior or Bayesian predictive distribution; see (7.4) below. In particular cases, including the linear Gaussian model, it is possible to choose a convenient prior, called the conjugate prior, so that the required integration can be performed analytically. More often, numerical evaluation is required. In most practical problems the only feasible evaluation strategies involve Monte Carlo methods, including the now ubiquitous Markov chain Monte Carlo (MCMC) methods as discussed in Gilks et al. (1996). Conversely, advances in computing power and theoretical developments in Monte Carlo methods of inference have together made Bayesian inference a feasible, and sometimes the only feasible, approach to inference for problems involving complex stochastic models.

7.2 Bayesian estimation and prediction for the Gaussian linear model We first describe an implementation of Bayesian inference for parameter estimation in the Gaussian linear model. We have argued that parameter estimation is often not the primary goal of a geostatistical analysis. We discuss parameter

7.2. Bayesian estimation and prediction for the Gaussian linear model

161

estimation here as a prelude to the main focus of this chapter, namely Bayesian prediction. In Bayesian parameter estimation, the likelihood function (θ; y) is combined with a prior distribution π(θ) via Bayes’ Theorem to yield a posterior distribution for θ with density p(θ|y) =

(θ; y)π(θ) . (θ; y)π(θ)dθ

(7.4)

Inferences about θ are then expressed as probability statements derived from the posterior. For example, the classical notion of a confidence interval for a single parameter, θk say, is replaced by a Bayesian credible interval (a, b), where a and b are chosen so that under the posterior distribution for θ, P(a ≤ θk ≤ b) attains a specified value, for example 0.95. As is the case for a confidence interval, the choice of a and b to achieve a given coverage probability is not unique. Unless stated otherwise, we use a “central quantile-based” method so that, for example, for a 95% credible interval we take a and b to be the 2.5% and 97.5% quantiles of the posterior or predictive distribution. If a point estimate is required, an appropriate summary statistic can be calculated from the posterior, for example its mean, median or mode.

7.2.1 Estimation We again consider the Gaussian model (5.12) which includes a linear regression specification for the spatial trend, so that [Y ] ∼ N(Dβ, σ 2 R(φ) + τ 2 I). To this model specification, whenever possible we add pragmatic specifications for the prior distributions which allow us to obtain explicit expressions for the corresponding posteriors. In other cases we discretise the prior to ease the resulting computations. We first consider the situation in which we fix τ 2 = 0 i. e., we assume that there is no nugget effect, and all other parameters in the correlation function have known values. Using particular prior specifications, we can then derive the posterior distributions for β and σ 2 analytically. These assumptions are of course unrealistic. We use them simply as a device to lead us towards a feasible implementation in the more realistic setting when all parameters are unknown. For fixed φ, the conjugate prior family for (β, σ2 ) is the Gaussian-ScaledInverse-χ2. This specifies priors for β and σ 2 with respective distributions

[β|σ 2 , φ] ∼ N mb , σ 2 Vb and [σ 2 |φ] ∼ χ2ScI nσ , Sσ2 , where a χ2ScI (nσ , Sσ2 ) distribution has probability density function π(z) ∝ z −(nσ /2+1) exp(−nσ Sσ2 /(2z)), z > 0. As a convenient shorthand, we write this as

[β, σ 2 |φ] ∼ N χ2ScI mb , Vb , nσ , Sσ2 .

(7.5)

(7.6)

162


Note, incidentally, that this is one case where a particular form of dependent prior specification is convenient. Using Bayes’ Theorem, we combine the prior with the likelihood given by (5.13) and obtain the posterior distribution of the parameters as ˜ V ˜ , nσ + n, S 2 , [β, σ 2 |y, φ] ∼ N χ2ScI β, (7.7) β where β˜ = Vβ˜ (Vb−1 mb + D R−1 y), Vβ˜ = (Vb−1 + D R−1 D)−1 and S2 =

nσ Sσ2 + mb Vb−1 mb + y R−1 y − β˜ Vβ˜−1 β˜ nσ + n

.

(7.8)

Under the conjugate specification, the degree to which the priors influence the inferences for β and σ 2 is controlled by the values of the constants mb , Vb , nσ and Sσ2 . Note in particular that the prior mean for 1/σ 2 is 1/Sσ2 and that the prior distribution for σ 2 becomes less diffuse as nσ increases. In practice, it may be difficult to elicit appropriate values for these quantities, but in qualitative terms we can think of Sσ2 as a prior guess at the value of σ 2 , and nσ as a measure of how well informed we consider this prior guess to be. Similarly, the prior mean for β is mb and its prior distribution becomes less diffuse as Vb decreases, hence the values of mb and of the elements of Vb should, roughly speaking, reflect our prior guesses and the confidence we wish to place in them. An alternative prior, often used as a default in Bayesian analysis of linear models, is π(β, σ 2 ) ∝ 1/σ 2 ; see for example, O’Hagan (1994). This is an improper distribution, because its integral over the parameter space is infinite. Nevertheless, formal substitution of Vb−1 = 0 and nσ = 0 into the formula (7.7) for the posterior distribution gives the correct expression for the posterior distribution corresponding to this default prior, except that the degrees of freedom are n − p, where p is the dimension of β, rather than n + nσ . More realistically, we now allow for uncertainty in all of the model parameters, still considering the case of a model without a nugget effect, so that τ 2 = 0, and with a single correlation parameter φ. We adopt a prior [β, σ 2 , φ] = [β, σ2 |φ] [φ], the product of (7.6) and a proper density for φ. In principle, the prior distribution for φ should have continuous support, but in practice we always use a discrete prior, obtained by discretising the distribution of φ in equal width intervals. This requires us in particular to specify the range of the prior for φ. In the absence of informed scientific opinion, we would do this conservatively, but check that the posterior for φ assigns negligible probabilities to the extreme points in the specified prior range. The posterior distribution for the parameters is then given by [β, σ 2 , φ|y] = [β, σ 2 |y, φ] [φ|y] with [β, σ2 |y, φ] given by (7.7) and p (φ|y)

∝

1

1

π(φ) |Vβ˜ | 2 |R|− 2 (S 2 )−(n+nσ )/2 ,

(7.9)

where Vβ˜ and S 2 are given by (7.7) and (7.8) respectively. When the prior is π(β, σ 2 , φ) ∝ π(φ)/σ 2 , the equation above holds with nσ = −p.


163

Berger, De Oliveira and Sans´ o (2001) use a special case of this as a default non-informative prior for the parameters of a spatial Gaussian process. To simulate samples from this posterior, we proceed as follows. We apply (7.9) to compute posterior probabilities p(φ|y), noting that in practice the support set will be discrete. We then simulate a value of φ from [φ|y], attach the sampled value to [β, σ 2 |y, φ] and obtain a simulation from this distribution. By repeating the simulation as many times as required, we obtain a sample of triplets (β, σ 2 , φ) from the joint posterior distribution of the model parameters. To accommodate a positive nugget variance, τ 2 > 0, in practice we use a discrete joint prior for φ and ν 2 , where ν 2 = τ 2 /σ 2 . This adds to the computational load, but introduces no new principles. In this case we replace R in the equations above by V = R + ν 2 I. Similarly, if we wish to incorporate additional parameters into the covariance structure of the signal process S(·), we would again use a discretisation method to render the computations feasible. Note that the form of Monte Carlo inference used here is direct simulation, replicated independently, rather than MCMC. Hence, issues of convergence do not arise and the simulation-induced variance in sampling from the posterior for any quantity of interest is inversely proportional to the number of simulated replicates. This allows us to assess the magnitude of the simulation-induced variation in the estimated posterior, or summaries of it, and to adjust the number of simulations if necessary.

7.2.2 Prediction when correlation parameters are known To extend the above results on Bayesian estimation to spatial prediction under the linear Gaussian model, we temporarily assume that all parameters in the correlation function have known values. In other words, we allow for uncertainty only in the parameters β and σ 2 . For fixed φ, the conjugate prior family for (β, σ2 ) is the Gaussian-ScaledInverse-χ2, and the resulting posterior distribution of the parameters β and σ 2 is given by equations (7.7) and (7.8). The additional step required for prediction is to compute the Bayesian predictive distribution of the signal at an arbitrary set of locations, say S ∗ = (S(xn+1 ), . . . , S(xn+q )). This requires us to evaluate the integral, p(s∗ |y) = p(s∗ |y, β, σ 2 ) p(β, σ 2 |y) dβdσ 2 , (7.10) where p(S ∗ |Y, β, σ2 ) is a multivariate Gaussian density with mean and variance given by the extension of (6.7) and (6.8) to the case of a linear regression model for μ(x). Hence, the mean becomes E[S ∗ |Y, β, σ2 ] = D∗ β + r V −1 (Y − Dβ)

(7.11)

where V = R + ν 2 I whilst D∗ and D are the matrices of covariates corresponding to prediction locations and sampling locations, respectively. The prediction variance is unchanged, Var[S ∗ |Y, β, σ2 ] = σ 2 (1 − r V −1 r).

(7.12)

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The integration in (7.10) yields a q-dimensional multivariate-t distribution defined by:

[S ∗ |y] ∼ tnσ +n μ∗ , S 2 Σ∗ , E[S ∗ |y] = μ∗ , nσ + n S 2 Σ∗ , Var[S ∗ |y] = nσ + n − 2

(7.13)

where S 2 is given by (7.8) and μ∗ and Σ∗ by the formulae μ∗

=

(D∗ − r V −1 D)Vβ˜ Vb−1 mb + r V −1 + (D∗ − r V −1 D)Vβ˜ D V −1 y,

Σ∗

=

V 0 − r V −1 r + (D∗ − r V −1 D)(Vb−1 + Vβˆ−1 )−1 (D∗ − r V −1 D) .

The three components in the formula for the prediction variance Σ∗ can be interpreted as the variability a priori, the reduction due to the conditioning on the data and the increase due to uncertainty in the value of β, respectively. When it is difficult to elicit informative priors, we would usually adopt diffuse, and apparently uninformative priors. However, the cautionary remarks given in Section 7.1.3 still apply. Prediction of non-linear targets is carried out using a simulation-based sampling procedure similar to the one described in Section 6.2.4.

7.2.3 Uncertainty in the correlation parameters More realistically, we now allow for uncertainty in all of the model parameters. As in Section 7.2.1, it is helpful first to consider the case of a model without measurement error i.e., τ 2 = 0, and a single correlation parameter φ. We adopt a prior π(β, σ 2 , φ) = π(β, σ 2 |φ) π(φ), the product of (7.6) and an independent prior distribution for φ, which in practice we specify as a discrete distribution spanning what is thought to be a reasonable range. The posterior distribution for the parameters is then [β, σ 2 , φ|y] = [β, σ 2 |y, φ] [φ|y] where [β, σ2 |y, φ] is given by (7.7), whilst the posterior density for φ is p (φ|y)

∝

1

1

π(φ) |Vβ˜ | 2 |R|− 2 (S 2 )−(n+nσ )/2 ,

(7.14)

with Vβ˜ and S 2 given by (7.7) and (7.8), respectively. To simulate samples from this posterior, we again use the simulation method described in Section 6.2.4.


165

The predictive distribution for the value, S ∗ = S(x∗ ) say, of the signal process at an arbitrary location x∗ , is given by [S ∗ , β, σ2 , φ|y] dβ dσ 2 dφ [S ∗ |y] = = [S ∗ , β, σ2 |y, φ] dβ dσ 2 [φ|y] dφ = [S ∗ |y, φ] [φ|y] dφ. The discrete prior for φ allows analytic calculation of the moments of this predictive distribution. For each value of φ we compute the moments of the multivariate-t distribution (7.13) and calculate their weighted sum with weights given by the probabilities p(φ|y). To sample from the predictive distribution of S ∗ , we proceed as follows. We first compute the posterior probabilities p(φ|y) on the discrete support set of the prior for φ, then simulate values of φ from the posterior, [φ|y]. For each sampled value of φ, we then simulate a value of (β, σ 2 ) from the Gaussian conditional distribution [β, σ 2 |y, φ], followed by a value of S ∗ from the conditional distribution [S ∗ |β, σ 2 , φ, y]. The resulting value of S ∗ is an observation from the required predictive distribution, [S ∗ |y]. The same method applies in principle to the simulation of a vector of values in S ∗ representing S(x) at a number of different prediction points using the multivariate Gaussian predictive distribution [S ∗ |y, β, σ 2 , φ]. In practice, this may be computationally demanding if the dimensionality of S ∗ is large. Finally, when τ 2 > 0 or if we need to introduce additional parameters into the covariance structure of S, we again proceed as in Section 7.2.1 by specifying a discrete joint prior for [φ, ν 2 ], where ν 2 = τ 2 /σ 2 and φ may now be vector valued.

7.2.4 Prediction of targets which depend on both the signal and the spatial trend When the target for prediction depends on both the signal process, S(·), and the trend, μ(·), we need to make a straightforward modification to the Bayesian prediction methodology. At this point, it is helpful to consider the generic notation for the model as given by (7.1), namely [Y, S|θ] = [S|θ][Y |S, θ], but to partition the parameter vector θ as θ = (α, β), where α parameterises the covariance structure and β parameterises the trend. Under this parameterisation, S is conditionally independent of β given α. To sample from the predictive distribution of any target T which depends on both S(·) and μ, we proceed as described in Section 7.2.3, simulating values of α from the distribution [α|y] and of S from the distribution [S|α, y]. At this point, if the target T involves the values of the signal, S ∗ say, at unsampled locations x, we can simulate these directly from the multivariate Gaussian distribution [S ∗ |S, α], which does not depend on y. Using the same values of α we then simulate values of β, and hence of μ(x) for any locations x of interest, from the posterior distribution [β|α, y]. Finally, we

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use the sampled values of S, S ∗ and μ(x) to calculate directly the corresponding sampled values of T which are then realisations from the appropriate predictive distribution, [T |y], as required. We again emphasise that the simulated samples generated by the methods described in this chapter are exact, independent samples from the required predictive distributions, and the size of the simulation-induced variability can therefore be assessed directly. As we shall discuss in Section 7.5, when we move beyond the linear Gaussian setting, we need to resort to Markov chain Monte Carlo methods, and to address issues concerning the convergence of sampled values to their equilibrium distributions.

7.3 Trans-Gaussian models A possible approach to the transformed Gaussian model is to consider a parametric family of transformations, such as the Box-Cox family, and to treat the choice of transformation as an additional parameter, λ say, to be estimated. De Oliveira, Kedem and Short (1997) proceed in this way, using formal Bayesian inference on all of the model parameters. We would be reluctant to follow their approach, partly for the reasons given in Section 6.5, but more particularly because we have reservations about combining predictions using different measurement scales. If empirical prediction is the sole aim, a possible strategy is the following. Consider a small number of candidate values for λ, for example λ = 1, 0.5 or 0, and adopt a discrete prior over these candidate values. Now, choose a sensible prior for the remaining parameters conditional on each candidate value of λ, taking care to make these conditional priors at least qualitatively consistent with each other; for example, if the prior for the mean response parameter μ given λ = 1 is centered on a value around 100, say, then the prior for μ given λ = 0.5 should be centered around a value of about 10. Predictions can then be made by applying a simple form of Bayesian model averaging, in which the predictive distribution is a mixture of predictive distributions conditional on each candidate value of λ, and weighted according to the posterior probabilities determined for each candidate value. When the scientific objectives extend beyond empirical prediction, we would prefer to choose λ informally, then carry out a Bayesian analysis treating λ as a fixed, pre-specified quantity, so as to preserve a physical interpretation for each of the model parameters. There are also some technical objections to applying formal Bayesian inference to the transformed Gaussian model using the Box-Cox family of transformations. Firstly, when using the Box-Cox transformed Gaussian model with λ > 0, we can back-transform predictions to the original scale using formulae for the moments of the t-distribution. However, this breaks down when λ = 0, corresponding to the widely used log-transformation, because the exponential of a t-distribution does not have finite moments, hence when λ = 0 the conditional expectation which usually defines the minimum mean square error

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predictor does not exist. A second concern is that if Y > 0, as is strictly necessary for the Box-Cox transformation to define a real-valued Y ∗ for all real λ, then Y ∗ cannot strictly be Gaussian. Of course, this last point applies equally to many situations in which the Gaussian is used routinely as an approximate model for strictly non-negative data. These comments are intended only as a gentle caution against the unthinking application of the transformed Gaussian model. In practice, the transformed Gaussian is a very useful extension of the Gaussian model when the data are clearly non-Gaussian, and neither the sampling mechanism underlying the data nor the particular scientific context in which the data arise suggests a specific non-Gaussian alternative. Working within the transformed Gaussian framework is also relatively straightforward computationally, by comparison with the perhaps more elegant setting of generalized linear geostatistical models for non-Gaussian data.

7.4 Case studies 7.4.1 Surface elevations We first consider the surface elevation data from Example 1.1. In Chapter 5 we fitted a linear Gaussian model to these data, assuming a linear trend surface on the coordinates for the mean and a Matérn correlation structure with κ = 1.5 for the stationary process S(·). We now use this model for spatial prediction of the elevation surface, T (x) = μ(x) + S(x), and compare the results obtained by plug-in and Bayesian methods. For plug-in prediction, maximum likelihood estimates of the remaining parameters in the covariance structure are τˆ2 = 34.9, σ ˆ 2 = 1693.1 and φˆ = 0.8. The parameter estimates which define the linear trend surface are (912.5, −5, −16.5). The top-left panel of Figure 7.1 shows the resulting plug-in prediction of surface elevations. The top-right and bottom-right panels show the decomposition of the predicted surface into its two components, the linear ˆ trend, μ ˆ(·) and the stochastic component S(·). The bottom-left panel shows prediction standard errors. For Bayesian prediction under the same model, we assign the priors as discussed in Section 7.2.1. Specifically, in this example we set π(β, σ 2 ) = 1/σ 2 and a joint discrete prior π(φ, ν 2 ) = 1/φ in the region [0.2, 6] × [0, 1] with 30 × 21 support points. Figure 7.2 shows prior and posterior distributions for the model parameters φ and ν 2 . In both cases, the posterior assigns higher probabilities to the lower values of the corresponding parameter. For comparison with the plug-in results shown in Figure 7.1, we compute the posterior means for μ(x) and T (x) = S(x) at each location x in a fine grid, and the posterior standard deviations of T (x). The results are shown in Figure 7.3 where, to allow direct comparison, we have used the same grey scales for plug-in and Bayesian maps of prediction results. Figure 7.4 compares the plug-in and Bayesian predictive distributions at two points. The first, (x, y) = (5.4, 0.4), coincides with one of the data locations

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whereas the second, (x, y) = (1.7, 0.7), lies a distance 0.32 from the closest data location. The Bayesian predictive distribution on the left reduces almost to a spike because of the high posterior density at ν 2 = 0, for which the variance of the predictive distribution is equal to zero. Hence, sampled values from the predictive distribution coincide with the observed elevation at this location. For the plug-in prediction, because νˆ2 > 0 the plug-in predictive distribution is more diffuse. For the other location, the Bayesian predictive distribution has a slightly larger variance than the corresponding plug-in predictive distribution, reflecting the effect of parameter uncertainty. Bayesian predictive distributions typically have larger variances than the corresponding plug-in distributions, but as the example shows, this is not invariably the case.

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7.4.2 Analysis of Swiss rainfall data (continued) In Chapter 5 we obtained the maximum likelihood parameter estimates for the Swiss rainfall data assuming a transformed Gaussian model with transformation parameter λ = 0.5, constant mean and Matérn correlation function with κ = 1. In Section 6.5.1 we used the fitted model to obtain plug-in predictions over Switzerland as shown in Figure 6.10. We now revise the analysis by adopting the Bayesian approach, assuming the same model as before but setting prior distributions for the model parameters (μ, σ2 , φ, ν 2 ) as discussed in Section 7.2.3. For the correlation function parameter φ we adopt a reciprocal prior π(φ) = 1/φ with φ taking values on a discrete

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Figure 7.4. Bayesian (solid line) and plug-in (dashed line) predictive distributions at a data location (x, y) = (5.4, 0.4) and a prediction location (x, y) = (1.7, 0.7). Table 7.1. Swiss rainfall data: posterior means and 95% central quantile-based credible intervals for the model parameters.

Parameter β σ2 φ ν2

Estimate 144.35 13662.15 49.97 0.03

95% interval [53.08 , 224.28] [8713.18 , 27116.35] [30 , 82.5] [0 , 0.05]

support of 20 points in the interval [7.5, 150]. For the noise to signal variance ratio ν 2 = τ 2 /σ 2 we use a uniform prior on a discrete support of 11 points in the interval [0, 0.5]. We obtain 1000 samples from posterior and predictive distributions. Figure 7.5 shows the discrete prior and posterior distributions for the parameters φ and ν 2 . Table 7.1 shows the 95% credibility intervals for the model parameters. To obtain predictions over the whole of Switzerland we define a 7.5 × 7.5 km grid of locations. Figure 7.6 shows the predicted values, which range from 2.1 to 499.7, and associated standard errors ranging from 19.3 to 82.9. The limits for the grey scale are the same as were used in the corresponding plot in Figure 6.10, where predicted values ranged from 3.5 to 480.4 and predicted standard errors ranged from 4.8 to 77.5. We also obtain Bayesian prediction of the proportion of the total area A(200) for which rainfall exceeds the threshold 200 and compare the result with that ˜ obtained in Section 6.5.1. We obtain a posterior mean A(200) = 0.409. From the sample, we can read off predictive probabilities for A(200) to lie within any stated limits, for example P(0.391 < A(200) < 0.426) = 0.90. Recall that ˜ for the plug-in predictions the corresponding results were A(200) = 0.394 and P(0.375 < A(200) < 0.41) = 0.90. The solid line in the left-hand panel of Figure 7.7 shows a density estimate obtained using samples from the predictive

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distribution of A(200) whilst the dashed line shows the corresponding result using plug-in prediction. This illustrates that Bayesian and plug-in methods can give materially different predictive distributions. In our experience, this is especially so for non-linear prediction targets. Another possible prediction target is a map of the probabilities, P (x; c) say, that S(x) exceeds the threshold value c, given the data. The right-hand panel of Figure 7.7 shows a map of P (x; 250), which is obtained by computing for each point in the prediction grid the proportion of simulated values of S(x) which exceed the value of 250. This result is the Bayesian counterpart of the one obtained for plug-in prediction, as shown in Figure 6.11.


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Figure 7.7. Prediction of functionals of S(x) for the Swiss rainfall data. The left– hand panel shows density estimates based on a sample of size s = 2000 drawn from the predictive distribution of A(200) using either Bayesian prediction (solid line) or plug-in prediction (dashed line). The right-hand panel shows the map of exceedance probabilities P (x; 250) for the Bayesian prediction.

7.5 Bayesian estimation and prediction for generalized linear geostatistical models As previously discussed in Section 5.5, the implementation of a likelihood-based method of inference for generalized linear geostatistical models is hampered by the need to evaluate intractable, high-dimensional integrals. For Bayesian inference, the usual way round this difficulty is to use Monte Carlo methods, in particular Markov chain Monte Carlo, to generate samples from the required posterior or predictive distributions. We therefore begin this section with a brief discussion of Markov chain Monte Carlo methods as they apply in the current context. Readers who wish to study Markov chain Monte Carlo methods in detail may want to consult the textbooks listed at the end of Section 1.5.2.

7.5.1 Markov chain Monte Carlo Markov chain Monte Carlo (MCMC) is now very widely used in Bayesian inference. Its attraction is that, in principle, it provides a way of circumventing the analytical and numerical intractability of Bayesian calculations by generating samples from the posterior distributions associated with almost arbitrarily complex models. MCMC achieves this by simulating from a Markov chain constructed in such a way that the equilibrium distribution of the chain is the required posterior, or Bayesian predictive distribution. Furthermore, it is possible to define general constructions for chains which meet this basic requirement. However, for many applications, constructing reliable MCMC algorithms is difficult. By “reliable” we mean that the chain reaches at least a close approximation to its equilibrium distribution sufficiently quickly to be within the capacity of

7.5. Bayesian estimation and prediction for generalized linear geostatistical models

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Figure 7.8. Conditional independence graph for the generalized linear geostatistical model. If two nodes are not connected by a line then the corresponding random variables are conditionally independent given the random variables at all other nodes.

the available computing resource and, crucially, that we can recognise when it has reached a close-to-equilibrium state. We denote by θ the set of parameters which define the covariance structure of the model, and by β the regression parameters which, with S(·), determine the conditional expectation of Y . Our parameterisation assumes that E[S(x)] = 0, hence β always includes an intercept term. We write S for the vector of values of S(xi ) at data locations xi , Y for the corresponding vector of measurements Yi , and S ∗ for the vector of values of S(x) at prediction locations x. Note that in practice, the prediction locations may or may not include the data locations xi . We shall assume that S ∗ and S are distinct. However, the algorithms for sampling from the predictive distribution of S ∗ automatically generate samples from the predictive distribution of S. Hence, if predictions at data locations are required, we simply combine the sampled values of S ∗ and S. For parameter estimation, we need to generate samples from the posterior distribution [θ, β|Y ]. For prediction, we also require samples from the posterior distribution [S ∗ |Y ]. Diggle et al. (1998) proposed an MCMC algorithm for both tasks, based on the conditional independence structure of the generalized linear geostatistical model as shown in Figure 7.8.

7.5.2 Estimation For inference about model parameters, S ∗ is irrelevant. Using the structure of the conditional independence graph restricted to the nodes θ, β, S and Y , and noting that the data Y are fixed, a single cycle of the MCMC algorithm involves first sampling from [S|θ, β, Y ], then from [θ|S], and finally from [β|S, Y ]. The second stage in the cycle can in turn be broken into a sequence of samples from the univariate conditional distributions [Si |S−i , θ, β, Y ], where S−i denotes the vector S with its ith element removed. Alternatively, the vector S can be updated in a single step, as we shall discuss in Section 7.5.4. In principle, repeating this process sufficiently many times from arbitrary starting values for θ, β and S will eventually generate samples from [θ, β, S|Y ] and hence, by simply ignoring the sampled values of S, from the required posterior [θ, β|Y ].

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We now consider the detailed form of each of these conditional distributions. Firstly, Bayes’ Theorem immediately implies that [θ|S] ∝ [S|θ][θ],

(7.15)

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Finally, Bayes’ Theorem in conjunction with the conditional independence structure of the model gives p(Si |S−i , θ, β, Y ) ∝ p(Y |S, β)p(Si |S−i , θ) and (7.16) then gives p(Si |S−i , θ, β, Y ) = {

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Because S(·) is a Gaussian process, the conditional distribution [S|θ] in equation (7.15) is multivariate Gaussian, and p(Si |S−i , θ) in equation (7.18) is therefore a univariate Gaussian density. This facilitates the alternative approach of blockupdating values of S jointly. In principle, we could specify any prior distributions for θ and β in equations (7.15) and (7.17). Note also that p(Yj |Sj , β) = p(y; μj ) where μj = h−1 {dj β + S(xj )} and h(·) is the link function of the generalized linear model. The resulting algorithm is straightforward to implement and is a generalpurpose method, which makes it suitable for incorporation into a general package. However, for any particular model more efficient algorithms could certainly be devised; for further discussion, see Section 7.5.4. The general-purpose algorithm can be described more explicitly as follows. Each step uses a version of a class of methods known as Metropolis-Hastings algorithms, after Metropolis, Rosenbluth, Rosenbluth, Teller and Teller (1953) and Hastings (1970). These algorithms involve sampling a proposed update and accepting or rejecting the update with a probability which is chosen so as to guarantee convergence of the chain to the required equilibrium distribution

Ĺ Step 0. Choose initial values for θ, β and S. The initial values for θ and β should be compatible with their respective priors. Sensible initial values for S are obtained by equating each Yi to its conditional expectation μi given β and S(xi ), and solving for Si = S(xi ). Ĺ Step 1. Update all the components of the parameter vector θ: (i) choose a new proposed value θ by sampling uniformly from the parameter space specified by the prior;


(ii) accept θ with probability Δ(θ, θ ) = min leave θ unchanged.

p(S|θ ) p(S|θ) ,

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1 , otherwise

Ĺ Step 2. Update the signals, S: (i) choose a new proposed value, Si , for the ith component of S from the univariate Gaussian conditional probability density p(Si |S−i , θ), where S−i denotes S with its ith element removed; p(y |s ,β) (ii) accept Si with probability Δ(Si , Si ) = min p(yii |sii ,β) , 1 , otherwise leave Si unchanged; (iii) repeat (i) and (ii) for all i = 1, . . . , n.

Ĺ Step 3. Update all the elements of the regression parameter β: (i) choose a new proposed value β from a conditional density p(β |β); (ii) accept β with probability n j=1 p(yj |sj , β ) p(β|β ) , 1 , Δ(β, β ) = min n j=1 p(yj |sj , β) p(β , |β) otherwise leave β unchanged. In this context, the conditional densities p(Si |S−i ) in step 2, and p(β |β) in step 3 are called transition kernels. Any kernel gives a valid algorithm, but the choice can have a major impact on computational efficiency. Note that in step 2, the transition kernel is the modelled conditional distribution of Si given S−i , which seems a natural choice, whereas in step 3 the transition kernel p(β |β) is essentially arbitrary. In general, a good choice of transition kernel is problem-specific, and in our experience involves considerable trial-and-error experimentation to achieve good results. Steps 1–3 are repeated until the chain is judged to have reached its equilibrium distribution, the so-called “burn-in” of the algorithm. Further cycling over steps 1–3 yields a sample from the posterior distribution, [θ, S, β|Y ], which can then be processed as in Chapter 6, using properties of the empirical sample as approximations to the corresponding properties of the posterior. In principle, these samples can be made arbitrarily precise by increasing the length of the simulation run. However, in contrast to the direct Monte Carlo methods used in Chapter 6, the MCMC algorithm generates dependent samples, often in practice very strongly dependent, and the simple rule of doubling the simulation size to halve the Monte Carlo variance does not apply. It is common practice to thin the MCMC output by sampling only at every rth cycle of the algorithm. Increasing r has the effect of reducing the dependence between successive sampled values. This does not of course improve the statistical efficiency of a run of a given length, but it may be a sensible compromise between the very small gains in efficiency obtained by retaining the complete, strongly dependent sample and the convenience of storing a much smaller number of sampled values. The usual way to display a posterior distribution obtained from an MCMC algorithm is as either a histogram or a smoothed non-parametric density estimate based on the sampled values after the algorithm is presumed to have

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converged. Because the MCMC sample is usually very large, typically many thousands, the choice of bin-width for the histogram, or band-width for a nonparametric smoother, is usually neither difficult nor critical. Nevertheless, the earlier warning that MCMC samples are not independent still holds, and it is always worth checking that splitting the MCMC sample in half gives essentially the same posterior for any quantity of interest. For univariate posteriors, we usually examine a superimposed plot of two cumulative empirical distribution functions calculated from the two half-samples, together with the cumulative prior distribution. Approximate equality of the two empirical distribution functions suggests that the sample size is adequate and gives some assurance (but no guarantee) that the algorithm is close to its equilibrium state. A large difference between the posterior and prior distributions confirms that the data are strongly informative of the parameter in question. Displaying multivariate posteriors is less straightforward. In the bivariate case, standard practice appears to be to use an ordinary scatterplot, but a simple non-parametric smoother again provides an alternative. In higher dimensions, options include a scatterplot matrix display, a dynamic three-dimensional spinning scatterplot or a classical dimension-reducing method such as a transformation to principal components. Inspection of the bivariate posteriors for pairs of parameters can highlight possible problems of poorly identified combinations of parameter values.

7.5.3 Prediction For prediction of properties of the realised signal, S(·), we need to re-introduce the fifth node, S ∗ , into the conditional independence graph of the model as in Figure 7.8. The goal is then to generate samples from the conditional distribution [(S, S ∗ )|Y ] = [S|Y ][S ∗ |S, Y ]. The general prediction algorithm operates by adding to the three-step algorithm described in Section 7.5.2 the following.

Ĺ Step 4. Draw a random sample from the multivariate Gaussian distribution [S ∗ |Y, θ, β, S], where (θ, S, β) are the values generated in steps 1 to 3. However, our model implies that S ∗ is conditionally independent of both Y and β, given S, and step 4 therefore reduces to direct simulation from the Gaussian distribution [S ∗ |S, θ]. Specifically, −1 T [S ∗ |S, θ] ∼ MVN(ΣT12 Σ−1 11 S, Σ22 − Σ12 Σ11 Σ12 ),

(7.19)

where Σ11 = Var(S), Σ12 = Cov(S, S ∗ ) and Σ22 = Var(S ∗ ). Note that if the MCMC sample is thinned, Step 4 is only needed when the corresponding sampled value of S is stored for future use. Prediction of any target T = T (S ∗ ) then follows immediately, by computing ∗ Tj = T (S(j) ) : j = 1, . . . , m to give a sample of size m from the predictive ∗ distribution [T |Y ], as required; here, S(j) denotes the jth simulated sample from the predictive distribution of the vector S ∗ . For point prediction, we can approximate the minimum mean square error predictor, E[T (S ∗ )|y], by the


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m ∗ sample mean, Tˆ = m−1 j=1 T (S(j) ). However, it will usually be preferable to examine the whole of the predictive distribution, as discussed in Section 7.5.2 in the context of posterior distributions for model parameters. Whenever possible, it is desirable to replace Monte Carlo sampling by direct evaluation. For example, if it is possible to calculate E[T (S ∗ )|S(j) ] directly, we would use the approximation E[T (S ∗)|Y ] ≈ m−1

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thereby reducing the Monte Carlo error due to simulation. This device is used within the package geoRglm (Christensen and Ribeiro Jr., 2002), which is specifically designed to fit the Poisson log-linear and binomial logistic-linear GLGM’s.

7.5.4 Some possible improvements to the MCMC algorithm As noted earlier, designing an MCMC algorithm may involve a compromise between generality of application and efficiency for specific problems. Also, the underlying theory for MCMC methods is still developing. With these qualifications, we now describe the particular algorithms used in the geoRglm package (Christensen and Ribeiro Jr., 2002) as suggested by Christensen (2001), Christensen and Waagepetersen (2002) and Diggle, Ribeiro Jr and Christensen (2003). To simulate from [S|y] we use the truncated Langevin-Hastings algorithm as in Christensen, Møller and Waagepetersen (2001) with the values of S blockupdated as suggested by the results in Neal and Roberts (2006). This algorithm uses gradient information in the proposal distribution and has been found to work well in practice by comparison with a random walk Metropolis algorithm. To do this, we first define S = Ω1/2 Γ where Ω1/2 is a square root of Ω = Var[S], for example using a Cholesky factorisation, and Γ ∼ N (0, I). We then use an MCMC-algorithm to obtain a sample γ(1) , . . . , γ(m) from [Γ|y], and pre-multiply each vector γ(j) by Ω1/2 to obtain a sample s(1) , . . . , s(m) from [S|y]. All components of Γ are updated simultaneously in the Langevin-MetropolisHastings MCMC algorithm. The proposal distribution is a multivariate Gaussian distribution with mean m(γ) = γ + (δ/2)∇(γ) where ∇(γ) = ∂ ∂γ log f (γ|y), and variance δIn . For a generalised linear geostatistical model with canonical link function h, the gradient ∇(γ) has the following form: ∇(γ) =

∂ log f (γ|y) = −γ + (Ω1/2 ) {y − h−1 (η)}, ∂γ

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where η = D β + Ω1/2 γ and h−1 is applied coordinatewise. If we modify the gradient ∇(γ) (by truncating, say) such that the term {y − h−1 (η)} is bounded, the algorithm can be shown to be geometrically ergodic, and a Central Limit Theorem holds. The Central Limit Theorem, with asymptotic variance estimated by Geyer’s monotone sequence estimate (Geyer, 1992), can then be used to assess the Monte Carlo error of the calculated prediction. The algorithm can

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be modified to handle other link functions, since the formula in (7.20) can be generalised to models with a non-canonical link function. To choose the proposal variance δ, we tune the algorithm by running a few test sequences and choosing δ so that approximately 60% of the proposals are accepted. To avoid storing a large number of high-dimensional simulations we generally thin the sample; for example, we may choose to store only every 100th simulation. Bayesian inference We first consider Bayesian inference for a generalised linear geostatistical model using the Gaussian-Scaled-Inverse-χ2 prior for [β, σ 2 ] as defined in (7.6), holding φ fixed. The distribution [S] is obtained by integrating [S, β, σ2 ] over β and σ 2 , leading to an n-dimensional multivariate-t distribution, tnσ (mb , Sσ2 (R + DVb D )). The posterior [S|y] is therefore given by p(s|y) ∝

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where p(s) is the density of [S]. In order to obtain a sample s(1) , . . . , s(m) from this distribution we use a Langevin-Hastings algorithm where η = D mb + Sσ (R + DVb D )Ω1/2 Γ, where Ω = Sσ2 (R + DVb D ), and a priori Γ ∼ tn+nσ (0, In ). The gradient ∇(γ) which determines the mean of the proposal distribution has the following form when h is the canonical link function, ∇(γ) =

∂ log f (γ|y) = −γ(n + nσ )/(nσ + γ2) + (Ω1/2 ) {y − h−1(η)}. (7.22) ∂γ

By using a conjugate prior for [β, σ 2 ] we find that [β, σ 2 |s(j) ], j = 1, . . . , m are Gaussian-Scaled-Inverse-χ2 distributions with means and variances given by (7.7). Using this result, we can simulate from the posterior [β, σ 2 |y], and calculate its mean and variance. For prediction, we use procedures similar to those described in Section 7.5.3. The only difference is that from (7.13), we see that for each simulation j = 1, . . . , m, the conditional distribution [S ∗ |s(j) ] is now multivariate t-distributed rather than multivariate Gaussian. A word of caution is needed concerning the use of so-called non-informative priors for β and σ 2 in a generalised linear geostatistical model. The prior 1/σ 2 for σ 2 , recommended as a non-informative prior for the Bayesian linear Gaussian model in Section 7.2.1, here results in an improper posterior distribution (Natarajan and Kass, 2000), and should therefore be avoided. The same holds for a linear Gaussian model with a fixed positive measurement error, τ02 > 0. So far as we are aware, there is no consensus on what constitutes an appropriate default prior for a generalised linear mixed model. We now allow for uncertainty also in φ, and adopt as our prior π(β, σ 2 , φ) = πN χ2ScI (β, σ 2 ) π(φ), where πN χ2ScI is given by (7.5) and π(φ) is any proper prior. When using an MCMC-algorithm updating φ, we need to calculate (R(φ) + DVb D )1/2 for each new φ value, which is the most time-consuming part of the

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algorithm. To avoid this significant increase in computation time, we adopt a discrete prior for φ on a set of values covering the range of interest. This allows us to pre-compute and store (R(φ) + DVb D )1/2 for each prior value of φ. To simulate from [S, φ|y], after integrating out β and σ 2 , we use a hybrid Metropolis-Hastings algorithm in which S and φ are updated sequentially. The update of S is of the same type as used earlier, with φ equal to the current value in the MCMC iteration. To update φ we use a random walk Metropolis update where the proposal distribution is a Gaussian distribution, but rounded to the nearest φ value in the discrete prior support. The output of this algorithm is a sample (s(1) , φ(1) ), . . . , (s(m) , φ(m) ) from the distribution [S, φ|y]. The predictive distribution for S ∗ is given by ∗ [S |y] = [S ∗ |S, φ][S, φ|y]dSdφ. To simulate from this predictive distribution, we simulate s∗(j) : j = 1, ..., m from the corresponding multivariate t-distributions [S ∗ |s(j) , φ(j) ]. We may also want to introduce a nugget term into the specification of the model, replacing S(xi ) by S(xi ) + Ui where the Ui are mutually independent Gaussian variates with mean zero and variance τ 2 . Here, in contrast to the Gaussian case, we can make a formal distinction between the Ui as a representation of micro-scale variation and the error distribution induced by the sampling mechanism, for example Poisson for count data. In some contexts, the Ui may have a more specific interpretation. For example, if a binary response were obtained from each of a number of sampling units at each of a number of locations, a binomial error distribution would be a natural choice, and the Ui and S(xi ) would then represent non-spatial and spatial sources of extra-binomial variation, respectively. The inferential procedure is essentially unchanged, except that we now use a discrete joint prior [φ, τ 2 ]. Note, however, that enlarging the model in this way may exacerbate problems associated with poorly identified model parameters unless the sampling design includes replicated observations at coincident sampling locations. The above description corresponds to the current version of geoRglm at the time of writing. Other possible improvements include the reparameterisation of the model suggested by Zhang (2002), and orthogonalising and standardising the conditional distribution [S|y], as suggested by Christensen, Roberts and Skøld (2006).

7.6 Case studies in generalized linear geostatistical modelling 7.6.1 Simulated data We first consider the simulated data shown in Figure 4.5. The model used to generate the data is a Poisson log-linear model whose true parameter values are: an intercept-only regression term, β = 0.5; a signal variance σ 2 = 2; and a Matérn correlation function with φ = 0.2and κ = 1.5.

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Table 7.2. Summaries of the posterior for the simulated Poisson data: posterior means and 95% central quantile-based intervals.

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For the analysis, we adopt the correct model and treat the Matérn shape parameter as fixed, κ = 1.5. For the correlation parameter we use a uniform discrete prior with 100 support points in the interval (0, 2). After tuning the MCMC algorithm, we used a burn-in of 10,000 iterations, followed by a further 100,000 iterations, from which we stored every 100th value to give a sample of 1,000 values from the posterior and predictive distributions. Table 7.2 shows summaries of the posterior distributions, whilst Figure 7.9 shows univariate histograms and bivariate scatterplots of the samples from the posterior. Although the central quantile-based interval for the parameter φ excludes the true value, the upper right-hand panel of Figure 7.9 shows that this is a consequence of the asymmetry in the posterior for φ. We obtained samples from the predicted distribution at two locations (0.75, 0.15) and (0.25, 0.50). For the former the median of the sample from the predictive distribution is 1.79 with prediction uncertainty of 0.97, whereas for the latter the corresponding values are 4.39 and 2.32, respectively. Figure 7.10

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shows density estimates for the samples from the predictive distribution at each of these locations.

7.6.2 Rongelap island Our second case study is based on the data from Example 1.2. The data were collected as part of an investigation into the residual contamination arising from nuclear weapons testing during the 1950’s. This testing programme resulted in the deposition of large amounts of radioactive fallout on the pacific island of Rongelap. The island has been uninhabited since the mid-1980’s. A geostatistical analysis of residual contamination levels formed one component of a wide-ranging project undertaken to establish whether the island was safe for re-habitation. Earlier analyses of these data are reported by Diggle et al. (1997) who used log-Gaussian kriging, and by Diggle et al. (1998) who used the model-based approach reported here, but with minor differences in the detailed implementation. For our purposes, the data consist of nett photon emission counts Yi over time-periods ti at locations xi indicated by the map in Figure 1.2. The term “nett” emission count refers to the fact that an estimate of natural background radiation has been subtracted from the raw count in such a way that the datum Yi can be attributed to the local level of radioactive caesium at or near the surface of the island. The background effect accounts for a very small fraction of the total radioactivity, and we shall ignore it from now on. The gamma camera which records photon emissions integrates information received over a circular area centred on each location xi . There is also a progressive “dilution” effect with increasing distance from xi . Hence, if λ∗ (x) denotes

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the true rate of photon emissions per unit time at location x, the raw count at location x will follow a Poisson distribution with mean μ(x) = t(x) w(x − u)λ∗ (u)du (7.23) where t(x) denotes the observation time corresponding to location x. The function w(·) decays to zero over a distance of approximately 10 metres, but we do not know its precise form. However, the minimum distance between any two locations in Figure 1.2 is 40 metres. Hence, rather than model λ∗ (·) in (7.23) directly, we will model λ(·), where λ(x) = w(x − u)λ∗ (u)du. Our general objective is to describe the spatial variation in the spatial process λ(x). Note that any spatial correlation in λ(·) induced by the integration of the underlying process λ∗ (·) operates at a scale too small to be identified from the observed data. Hence, any empirically observed spatial correlation must be the result of genuine spatial variation in local levels of residual contamination, rather than an artefact of the sampling procedure. The sampling design for the Rongelap island survey was a lattice plus in-fill design of the kind which we discuss in Chapter 8. This consists of a primary lattice overlaid by in-fill squares in selected lattice cells. In fact, the survey was conducted in two stages. The primary lattice, at 200m spacing, was used for the first visit to the island. The in-fill squares were added in a second visit, to enable better estimation of the small-scale spatial variation. For the second-stage sample, two of the primary grid squares were selected randomly at either end of the island. As we discuss in Chapter 8, inclusion of pairs of closely spaced points in the sampling design can be important for identification of spatial covariance structure, and therefore for effective spatial prediction when the true model is unknown. In this application, we can also use the in-fill squares to make an admittedly incomplete assessment of the stationarity of the underlying signal process. For example, if we let y denote the nett count per second, then for 50 sample locations at the western end of the island including the two in-fill squares, the sample mean and standard deviation of log(y) are 2.17 and 0.29, whilst for 53 locations covering the eastern in-fill area the corresponding figures are 1.85 and 0.35. Hence, the western extremity is the more heavily contaminated, but the variation over two areas of comparable size is quite similar; see also the exercises at the end of this chapter. Taking all of the above into consideration, we adopt a Poisson log-linear model with log-observation time as an offset and a latent stationary spatial process S(·) in the linear predictor. Explicitly, if Yi denotes the nett count over observation time ti at location xi , then our modelling assumptions are

Ĺ conditional on a latent spatial process S(·), the Yi are mutually independent Poisson variates with respective means μi , where log μi = log ti + β + S(xi );

Ĺ S(·) is a stationary Gaussian process.

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In order to make a preliminary assessment of the covariance structure, we transform each datum (Yi , ti ) to Yi∗ = log(Yi /ti ). Under the assumed log-linear structure of the proposed model, we can think of Yi∗ as a noisy version of the unobserved S(xi ). Hence, the sample variogram of the observed values of Yi∗ should give a qualitative pointer to the covariance structure of the latent process S(·). Figure 7.11 shows the resulting empirical variogram. The relatively large intercept suggests that measurement error, which in the model derives from the approximate Poisson sampling distribution of the nett counts, accounts for a substantial proportion of the total variation. However, there is also clear structure to the empirical variogram, indicating that the residual spatial variation is also important. The convex shape of the empirical variogram suggests that this spatial variation is fairly rough in character. The remaining results in this section are taken from the analysis reported in Diggle et al. (1998), who used the powered exponential family (3.7) to model the correlation structure of S(·), ρ(u) = exp{−(u/φ)κ }. Recall that for this model, κ ≤ 2 and unless k = 2 the model corresponds to a mean-square continuous but non-differentiable process S(·). Also, for κ ≤ 1 the correlation function ρ(·) is convex, which would be consistent with our earlier comment on the shape of the sample variogram of the Yi∗ . The priors for β, σ 2 , φ and κ were independent uniforms, with respective ranges (−3, 7), (0, 15), (0, 120) and (0.1, 1.95). The corresponding marginal posteriors have means 1.7, 0.89, 22.8 and 0.7, and modes 1.7, 0.65, 4.7 and 0.7. Note in particular the strong positive skewness in the posterior for φ, and confirmation that the data favour κ < 1 i.e., a convex correlation function for the process S(·). For prediction, Diggle et al. (1998) ran their MCMC algorithm for 51,000 iterations, discarded the first 1000 and then sampled every 100 iterations to give a sample of 500 values from the posterior distributions of the model parameter, and from the predictive distribution of the surface S(x) at 960 locations forming


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a square lattice to cover the island at a spacing of 50 metres. By transforming each sampled S(x) to λ(x) = exp{β + S(x)}, they obtained a sample of 500 values from the predictive distribution of the spatially varying intensity, or mean emission count per second, over the island. Figure 7.12 shows the resulting point-wise mean surface. This map includes the southeast corner of the island as an enlarged inset, to show the nature of the predicted small-scale spatial variation in intensity. Note also the generally higher levels of the predictions at the western end of the island. A question of particular practical importance in this example is the pattern of occurrence of relatively high levels of residual contamination. Maps of point predictions like the one shown in Figure 7.12 do not give a very satisfactory answer to questions of this kind because they do not convey predictive uncertainty. One way round this is to define a specific target T and to show the whole of the predictive distribution of T , rather than just a summary. To illustrate this approach, the left-hand panel of Figure 7.13 shows the predictive distribution of T = max{λ(x)}, where the maximum is computed over the same 960 prediction locations as were used to construct Figure 7.12. Note that the predictive distribution extends far beyond the maximum of the point-wise predictions of λ(x) shown in Figure 7.12. The two versions of the predictive distribution refer to predictions with and without allowance for parameter uncertainty, showing that for this highly non-linear functional of S(·) parameter uncertainty makes

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a material difference. Of course, by the same token so does the assumed parametric model which underlies this predictive inference. By contrast, predictive inferences for the point-wise values of λ(x) are much less sensitive to parameter uncertainty. The right-hand panel of Figure 7.13 summarises the predictive distributions of a family of targets, T (z) equal to the areal proportion of the island for which λ(x) > z. The predictive distribution for each value of z is summarised by its point prediction and associated 95% central quantile-based interval.

7.6.3 Childhood malaria in The Gambia Our third case study uses the data from Example 1.3. This concerns spatial variation in the prevalence of malarial parasites in blood samples taken from children in village communities in The Gambia, Africa. Figure 1.3 shows a map of the village locations. Note that these represent only a small fraction of the village communities in The Gambia. The strongly clustered arrangement of sampled villages is clearly not ideal from a theoretical point of view, but reflects the practical necessities of field work in difficult conditions on a limited

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budget. Thomson, Connor, D’Alessandro, Rowlingson, Diggle, Cresswell and Greenwood (1999) describe the background to the study in more detail. The analysis described here was previously reported by Diggle, Moyeed, Rowlingson and Thomson (2002). Two similarities between this and the Rongelap data are the following. Firstly, there is a natural sampling model for the responses conditional on the underlying signal, in this case the binomial distribution. Secondly, there is no natural way to specify a mechanistic model for the residual spatial variation, hence we again adopt a stationary Gaussian process as a flexible empirical model. One notable difference from the Rongelap case study is that covariates are recorded both at village-level and at individual child-level. Village-level covariates are a satellite-derived measure of the green-ness of the surrounding vegetation, which is a predictor of how favourable the local environment is for mosquitos to breed, and a binary indicator of whether the village had its own health centre. Childlevel covariates are sex, age and bed-net use. Sex is thought to be unimportant. Age is almost certainly important because of chronic infections. Bed-net use is also likely to be important; this is a three-level factor coded as a pair of binary covariates, one for bed-net use itself, the other indicating whether the net was treated with insecticide. In this example, valid inferences about covariate effects are probably more important in practice than estimation of spatial variation in its own right. The primary role of the latent spatial process S(·) is to guard against spuriously significant covariate effects which might result from ignoring the spatial correlation inherent in the data. Residual spatial effects, estimated after adjustment for covariate effects, are nevertheless of some interest, since identifying areas of unusually high or low residual prevalence might point to other, as yet unidentified, risk factors. In order to take account of child-level covariates, the natural statistical model for these data is a generalized linear mixed model for the binary outcome observed on each child. Diggle, Moyeed, Rowlingson and Thomson (2002) initially tried to fit a model which included both spatial and non-spatial random effects, as follows. Let pij denote the probability that the jth child in the ith village gives a positive blood-test result. Then, log{pij /(1 − pij )} = α + β zij + Ui + S(xi ).

(7.25)

where the Ui are mutually independent Gaussian random effects with mean zero and variance τ 2 , whilst S(x) is a zero-mean stationary Gaussian process with variance σ 2 and correlation function ρ(u) = exp{−(|u|/φ)κ }. Diggle, Moyeed, Rowlingson and Thomson (2002) were unable to estimate jointly the two variance components τ 2 and σ 2 . This suggests that the random effect part of model (7.25) is over-ambitious. Because the scientific focus in this example is on estimating covariate effects, it would be tempting to eliminate the spatial effect, S(x) altogether. The non-spatial random effects Ui would then represent a classical generalized linear mixed model with the simplest possible random effects structure, which could be fitted either through approximate likelihoodbased methods or, more pragmatically, by fitting a classical generalised linear


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model with a simple adjustment factor applied to the nominal standard errors to take account of extra-binomial variation at the village-level; see, for example, chapter 4 of McCullagh and Nelder (1989). Note, however, that the implicit estimands in these two analyses would differ. Specifically, the β parameters in (7.25) measure covariate effects conditional on village-level random effects, whilst the classical generalised linear model estimates different parameters, β ∗ say, which measure covariate effects averaged over the distribution of the random effects. In general, |β ∗ | < |β| element-wise, as discussed, for example, in chapter 7 of Diggle, Heagerty, Liang and Zeger (2002). Diggle, Moyeed, Rowlingson and Thomson (2002) report that in the nonspatial version of (7.25), the predicted village-level random effects Uî showed substantial spatial correlation. Since spatial variation, although not the primary focus of the analysis, is of some interest, they therefore persevered with a spatial model, but omitted the non-spatial random effects Ui . They also made a pragmatic modification to the stationarity assumption for S(x), in response to the strongly clustered nature of the sampling design, by introducing a five-level factor corresponding to villages included in each of the five separate surveys from which the data were assembled. The five areas corresponded to villages in the western, central and eastern parts of The Gambia, but with the western and eastern parts further divided into villages north and south of the River Gambia. The model was fitted using an MCMC algorithm as described in Diggle, Moyeed, Rowlingson and Thomson (2002). Table 7.3 summarises the results in terms of marginal posterior means and 95% credible intervals for the model parameters. With regard to the spatial covariance parameters, the widths of the credible intervals underline the difficulty of estimating these parameters precisely, reinforcing our earlier comments that the inferences are potentially sensitive to prior specifications. We would argue, however, that our formal approach to inference simply reveals difficulties which are hidden when more ad hoc methods of parameter estimation are used.

7.6.4 Loa loa prevalence in equatorial Africa Our final case study again relates to binomial sampling for estimating tropical disease prevalence. However, in contrast to The Gambia malaria example, the spatial variation in prevalence has direct policy implications. The analysis reported here is taken from Diggle, Thomson, Christensen, Rowlingson, Obsomer, Gardon, Wanji, Takougang, Enyong, Kamgno, Remme, Boussinesq and Molyneux (2006). Predicting the spatial distribution of Loa loa prevalence is important because it affects the operation of the African Programme for Onchocerciasis Control (APOC), a major international programme to combat onchocerciasis in the wet tropics. APOC oversees the mass treatment of susceptible communities with the drug ivermectin, which is effective in protecting against onchocerciasis, but has been observed to produce severe, and occasionally fatal, reactions in some individuals who are heavily co-infected with Loa loa parasites. Boussinesq, Gardon, Kamgno, Pion, Gardon-Wendel and Chippaux (2001) confirmed empir-

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Table 7.3. Point estimates (posterior means and medians) and 95% central quantile-based credible intervals for the parameters of the model fitted to The Gambia malaria data.

Parameters α β1 (age) β2 (untreated) β3 (treated) β4 (green-ness β5 (PHC) β6 (area 2) β7 (area 3) β8 (area 4) β9 (area 5) σ2 φ δ

95% credible interval -2.9665 2.6243 0.0005 0.0009 -0.6731 -0.0420 -0.7538 0.0884 -0.0857 0.0479 -0.7879 0.1299 -1.1442 0.5102 -1.4086 0.5586 -0.1095 2.4253 0.1648 2.6063 0.3118 1.0502 0.9158 10.2007 0.0795 2.7846

Mean -0.1312 0.0007 -0.3578 -0.3295 -0.0201 -0.3448 -0.3247 -0.5321 1.0494 1.3096 0.5856 2.5223 1.0841

Median -0.0780 0.0007 -0.3594 -0.3259 -0.0208 -0.3499 -0.3316 -0.5592 1.0170 1.3251 0.5535 1.4230 0.9374

ically that such individuals are more likely to be found in areas with high local prevalence. They also investigated the relationship between local prevalence and the proportion of individuals infected at levels sufficiently high to render them apparently susceptible to severe reactions. Informed by this and other work, current APOC policy is to put in place precautionary measures before mass distribution of ivermectin in communities for which the local prevalence of Loa loa is thought to exceed 20%. However, direct estimation of prevalence throughout the relevant area, which covers most of the wet tropical zone, is impractical. One response to this is to conduct a geostatistical analysis of survey data on Loa loa prevalence obtained from scattered village communities, and to map the predictive probability that the 20% policy intervention threshold is exceeded. The data for the analysis include empirical prevalence estimates obtained by microscopic examination for the presence of Loa loa parasites in blood samples taken from a total of 21,938 individuals from 168 villages. The locations of these villages are shown in Figure 7.17. To these data are added environmental explanatory variables measured on a regular grid covering the study region at a spacing of approximately 1 km. The environmental variables are those chosen by Thomson, Obsomer, Kamgno, Gardon, Wanji, Takougang, Enyong, Remme, Molyneux and Boussinesq (2004) in a non-spatial logistic regression analysis of the prevalence data. These are elevation, obtained from the United States Geological Survey website http://edcdaac.usgs.gov/gtopo30/hydro/africa.html, and a vegetation index (Normalised Difference Vegetation Index, NDVI), a measure of the greenness of the vegetation which is derived from satellite data available from the web-site http://free.vgt.vito.be. Let Yi denote the number of positive samples out of ni individuals tested at location xi . Diggle et al. (2006) fitted a generalised linear geostatistical model

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in which the Yi are assumed to be conditionally independent binomial variates given an unobserved Gaussian process S(x). The mean response at xi is E[Yi ] = ni p(xi ), where p(xi ) depends on the values at xi of the chosen environmental variables and on S(xi ). Specifically, the model assumes that log(p(x)/{1−p(x)}) = β0 +f1 (ELEV)+f2 (max(NDVI))+f3 (SD(NDVI))+S(x). (7.26) In (7.26), the functions f1 (·), f2 (·) and f3 (·) are piece-wise linear functions which capture the effects of elevation and NDVI on Loa loa prevalence at the location x. Only linear functions fj (·) were considered initially, but exploratory analysis showed threshold effects in the impact of both elevation and NDVI on prevalence, which were confirmed as qualitatively reasonable on substantive grounds; for example, the biting fly which is the vector for Loa loa transmission is known not to survive at high elevations. The rationale for including both the maximum and standard deviation of NDVI, each calculated for each grid location from repeated satellite scans over time, is that together they capture, albeit crudely, the effects of overall greenness of the local vegetation and seasonal variation in local greenness, both of which were thought to affect the ability of the Loa loa vector to breed successfully. Figures 7.14, 7.15 and 7.16 show the construction of the piece-wise linear functions f1 (·), f2 (·) and f3 (·) through which the model represents the effects of elevation and NDVI on Loa loa prevalence in the spatial model (7.26). There is a positive association between elevation and prevalence up to a threshold of 1000 metres above sea-level, beyond which prevalence drops sharply, becoming effectively zero above 1300 metres. The effect of maximum NDVI on prevalence is modelled as a linear increase up to a value of 0.8, and constant thereafter;


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the defined range of NDVI is from zero to one. Finally, standard deviation of NDVI shows a very weak association with prevalence which we represent as a simple linear effect.


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The model for S(·) is a stationary Gaussian process with mean zero and covariance function γ(u) = σ 2 {exp(−u/φ) + ν 2 I(u = 0)}, where I(·) denotes the indicator function. The form of the covariance structure was chosen after inspecting the empirical variogram of residuals from a non-spatial binomial logistic regression model. The nugget term, τ 2 = σ 2 ν 2 , represents non-spatial extra-binomial variation in village-level prevalence. This is attributed to non-specific social and demographic attributes of individual village communities which are not spatially dependent. Prior specifications for the model parameters were as follows: for (β, σ2 ), an improper prior π(β, σ 2 ) ∝ 1; for the correlation parameter, φ, a proper uniform prior, π(φ) = c−1 : 0 ≤ φ ≤ c, with c = 1 degree of latitude/longitude at the equator, or approximately 100 km; for the relative nugget parameter, ν 2 , a fixed value ν 2 = 0.4. The upper limit for φ and the fixed value of ν 2 were again chosen after inspection of the residual empirical variogram. Fixing ν 2 was a pragmatic strategy to circumvent problems with poor identifiability. The target for prediction is the predictive probability, for any location x, that p(x) exceeds 0.2 given the data. Monte Carlo methods were used to construct a map of these predictive probabilities on a regular grid with spacing approximately 1 km, chosen to match the spatial resolution of the explanatory variables in the model. The inferential procedure divides naturally into two steps. The first step is to generate samples from the joint posterior distribution of the model parameters (β, σ 2 , φ) and the spatial random effects S at the village locations, using a Markov chain Monte Carlo (MCMC) algorithm as described in Section 7.5.4. The second step is then to generate samples from the predictive distribution of the spatial random effects at all locations in the square grid of prediction locations; this step requires only direct simulation from a multivariate Gaussian distribution. Table 7.4 gives summaries of the posterior distributions for the model parameters, based on sampling every 1000th iteration from 1,000,000 iterations of the MCMC algorithm. The correspondence between the β parameters and (7.26) is as follows: β0 is the intercept; β1 , β2 and β3 are the slope parameters in the linear spline for the elevation effect (f1 (ELEV) in (7.26)), covering the elevation ranges 0–650 metres, 650–1000 metres and 1000–1300 metres, respectively; the linear spline for the effect of maximum NDVI has slope β4 between 0.0 and 0.8, and is constant thereafter (f2 (max(NDVI)) in equation (7.26)); β5 is the slope of the linear effect of the standard deviation of NDVI (f3 (SD(NDVI)) in equation (7.26)). For prediction of the 20% prevalence contour at location x0 , say, the following Monte Carlo approximation was used, P [p(x0 ) > 0.2|y] ≈ (1/m)

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Table 7.4. Posterior means and standard deviations for parameters of the model fitted to the Loa loa data. See text for detailed explanation.

parameter β0 β1 β2 β3 β4 β5 σ2 φ2

Mean −11.38 0.0007 0.0004 −0.0109 12.45 −3.53 0.58 0.70

Std. dev. 2.15 0.0007 0.0011 0.0016 2.92 4.77 0.11 0.18

where, in addition to previous notation, c = log(0.2/(1 − 0.2)) and a subscript j indicates the jth of m samples from the posterior distribution of the model parameters. As noted earlier, inference was based on the empirical posterior/predictive distributions of every 1000th sample from 1,000,000 MCMC iterations, hence m = 1000. Note also that S(x0 ) conditional on S, β, σ2 and φ follows a Gaussian distribution function, yielding an explicit expression for P (S(x0 ) > t|S, β, σ 2 , φ) in (7.27). The total number of prediction locations in the grid at 1 km spacing was 550,000, albeit including a small proportion of off-shore locations for which predictions are formally available but of no relevance. To ease the computational load of the predictive calculation, the prediction locations were divided into sub-sets consisting of approximately 10,000 locations. Separate predictions were then made within each sub-set and combined to produce the maps shown here. The map of estimated prevalence obtained from the spatial model is presented in Figure 7.17. This map corresponds broadly with the map obtained by Thomson et al. (2004) using a non-spatial logistic regression model, but its local features differ because of the effect of the residual spatial term, S(x). Figure 7.18 shows the predictive probability map obtained from the spatial model. Dark grey areas are those where there is a relatively high predictive probability that the policy intervention threshold of 20% is exceeded. Likewise, pale grey areas are those where the predictive probability of exceeding the 20% threshold is relatively small. The intermediate areas can be considered as areas of high uncertainty. The maps are clearer in the colour versions which are posted on the book’s website. There, red-brown areas correspond to predictive probabilities greater than 0.7, orange-yellow areas to predictive probabilities less than 0.3, whilst predictive probabilities between 0.3 and 0.7 are coded in shades of pink. As we would expect, there is a qualitative similarity between the maps in Figures 7.17 and 7.18 but the quantitative differences are sufficient materially to affect their interpretation. Note in particular that the relationship between the value of the empirical prevalence at a particular location x and the corresponding predictive probability of exceeding the 20% threshold involves an

7.7. Computation

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Figure 7.17. Point estimates of Loa loa prevalence. Village locations which provided survey data are shown as solid dots, coded by size to correspond to the observed proportions of positive blood-test results amongst sampled individuals. The spatially continuous grey-scale map shows, at each point on the map, the point prediction of the underlying prevalence.

interplay between the influences of the environmental explanatory variables at x and of the empirical prevalences at nearby locations. From the point of view of the people who need to make local decisions, the obvious limitation of the predictive probability map is the high degree of uncertainty in many parts of the study region. The solution is to obtain more survey data, concentrating on the areas of high uncertainty. However, the kind of data used to construct the map are expensive to collect and additional sampling on the scale required is unlikely to be affordable. In response to this impasse, Takougang, Wanji, Yenshu, Aripko, Lamlenn, Eka, Enyong, Meli, Kale and Remme (2002) have developed a simple questionnaire instrument, RAPLOA, for estimating local prevalence, as a low-cost alternative to the parasitological sampling method used here. Combining the data from parasitological and RAPLOA sampling is a problem in bivariate generalised linear modelling, which takes us beyond the scope of this book but is the subject of work-in-progress by Ciprian Crainiceanu, Barry Rowlingson and Peter Diggle.

7.7 Computation 7.7.1 Gaussian models For plug-in prediction based on the Gaussian linear model, our computational implementation comprises two steps: parameter estimation, for instance using likfit(); and point prediction using krige.conv() Within the Bayesian

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Figure 7.18. Predictive inference for the Loa loa data. Village locations which provided survey data are shown as solid dots, coded by size and colour to correspond to the observed proportions of positive blood-test results amongst sampled individuals. The spatially continuous map shows, at each point on the map, the predictive probability that the underlying prevalence is greater than 20%.

framework this distinction is much less clear and we therefore implement inference as a whole in a single function, krige.bayes(). This function can return either or both posterior distributions for model parameters and predictive distributions for the unobserved signal S(x) at prediction locations x. The geoR function krige.bayes() implements Bayesian inference for the Gaussian linear model whereas the functions binom.krige.bayes() and pois.krige.bayes() in the package geoRglm implement methods for the binomial and Poisson generalised linear geostatistical models. Our initial examples in this section illustrate some of the options available to the user of krige.bayes() > args(krige.bayes) function (geodata, coords = geodata$coords, data = geodata$data, locations = "no", borders, model, prior, output) NULL The function requires arguments specifying the data object, model and prior information. Implementation is made more convenient by using the supplementary functions model.control() and prior.control() to specify the model and prior information. Specification of the prediction locations is optional; if these are omitted, krige.bayes() carries out Bayesian inference about the model parameters but does not perform any spatial prediction. Other optional arguments include the border of the study area, which is particularly relevant for non-rectangular areas, and options to specify which results should be included in the output. For the latter, summaries for the predictive distribution can be obtained using output.control(), as discussed in relation

7.7. Computation

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to the krige.conv() function in Chapter 6. Additional options relevant to Bayesian inference, namely the number of samples to be drawn from the posterior and predictive distributions, are specified by the arguments n.posterior and n.predictive, respectively. The remaining arguments define the required summaries of the predictive distributions, again as discussed in relation to the krige.conv() function. > args(output.control) function (n.posterior, n.predictive, moments, n.back.moments, simulations.predictive, mean.var, quantile, threshold, sim.means, sim.vars, signal, messages) NULL We now illustrate the use of these functions for Bayesian inference in the Gaussian linear model by showing the sequence of commands for the Bayesian analysis of the elevation data, as reported in Section 7.4.1. Firstly, a call to model.control() specifies the option of fitting a first degree polynomial trend. This option can be used for covariates which correspond to the coordinates or to another covariate. Therefore, we specify the trend on the data coordinates using the argument trend.d and on the prediction locations in trend.l. Next, we set the support points for the default independent, discrete uniform priors for φ and ν 2 = τ 2 /σ 2 . For σ 2 and β we use the default prior π(β, σ 2 ) = 1/σ 2 . Using the function output.control() we define the number of samples to be drawn from the predictive distributions and ask for their analytically computed mean and variance. Note that all of the control functions have other arguments with default values; as always, the calls to the functions only specify values for the arguments for which we want to override the defaults. > MC PC OC set.seed(268) > skb > + > + >

set.seed(371) MCc + > > > +

set.seed(371) MCc

Model-based Geostatistics

Geostatistics Banff 2004 (Quantitative Geology and Geostatistics)

Applied geostatistics

Practical Geostatistics

Interfacing Geostatistics and GIS

Geomodeling (Applied Geostatistics Series)

geoENV IV - Geostatistics for Environmental Applications (Quantitative Geology and Geostatistics)

Modern Spatiotemporal Geostatistics

geoENV IV - Geostatistics for Environmental Applications (Quantitative Geology and Geostatistics)

geoENV VI Geostatistics for Environmental Applications (Quantitative Geology and Geostatistics)

Introduction to Geostatistics: Applications in Hydrogeology

geoENV VII - Geostatistics for Environmental Applications